[NeurIPS 2025] SpatialLM: Training Large Language Models for Structured Indoor Modeling

A list of papers and datasets about point cloud analysis (processing)

nanoflann: a C++11 header-only library for Nearest Neighbor (NN) search with KD-trees

A fast and robust point cloud registration library

An Iterative Closest Point (ICP) library for 2D and 3D mapping in Robotics

ROS package to find a rigid-body transformation between a LiDAR and a camera for "LiDAR-Camera Calibration using 3D-3D Point correspondences"

pyntcloud is a Python library for working with 3D point clouds.

[ECCV'20] Convolutional Occupancy Networks

[CVPR'23] OpenScene: 3D Scene Understanding with Open Vocabularies

A lightweight tool for labeling 3D bounding boxes in point clouds.

My awesome point cloud labeling tool

Papers, code and datasets about deep learning for 3D Object Detection.

Python implementation of SLAM algorithm Stereo-PTAM

Virtual Sparse Convolution for Multimodal 3D Object Detection

🔥🔥🔥Official Codebase of "DiT-3D: Exploring Plain Diffusion Transformers for 3D Shape Generation"

A Large-scale Mobile LiDAR Dataset for Semantic Segmentation of Urban Roadways

Sparse Fuse Dense: Towards High Quality 3D Detection with Depth Completion (CVPR 2022, Oral)

This is a package for LiDARTag, described in paper: LiDARTag: A Real-Time Fiducial Tag System for Point Clouds

[ICCV '21] "Unsupervised Point Cloud Pre-training via Occlusion Completion"

Accurate, detailed, and automatic modelling of laser-scanned trees

[ICLR 2025 (Oral 📢) ] Our OpenYOLO3D model achieves state-of-the-art performance in Open Vocabulary 3D Instance Segmentation on ScanNet200 and Replica datasets with up ∼16x speedup compared to the best existing method in literature.

Multi primitive-to-primitive (MP2P) ICP algorithms in C++

KeypointNet: A Large-scale 3D Keypoint Dataset Aggregated from Numerous Human Annotations (CVPR2020)

K-Closest Points and Maximum Clique Pruning for Efficient and Effective 3-D Laser Scan Matching (RA-L 2022)

PDollar algorithm Unity friendly

Deep learning for grasp detection within MoveIt.

[CVPR 2024] Memory-based Adapters for Online 3D Scene Perception

visualization点云可视化(open3D, mayavi, rviz(ros), PCL等)

[ECCV 2024] 3D Small Object Detection with Dynamic Spatial Pruning

Automatically registers (aligns) and visualizes point clouds, or processes a whole bunch at once