Intensity Scan Context based full SLAM implementation for autonomous driving. ICRA 2020

A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package

Multi-threaded and SSE friendly NDT algorithm

Multi-threaded and SSE friendly NDT algorithm

Open3D: A Modern Library for 3D Data Processing

A Robust LiDAR-Inertial Odometry for Livox LiDAR

OpenSeqSLAM2 is a MATLAB toolbox for interactively exploring the visual place recognition problem.

SeqNet: Code for the RA-L (ICRA) 2021 paper "SeqNet: Learning Descriptors for Sequence-Based Hierarchical Place Recognition"

A curated list of Visual Place Recognition (VPR)/ loop closure detection (LCD) datasets

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

Drivers for receiving LiDAR data and controlling lidar, support Lidar HAP and Mid-360.

Livox device driver under Ros(Compatible with ros and ros2), support Lidar HAP and Mid-360.

A list of papers about point cloud based place recognition, also known as loop closure detection in SLAM (processing)

LiDAR-inertial SLAM: Scan Context + LIO-SAM

A 3D point cloud descriptor for place recognition

A Modular Framework for LiDAR-based Lifelong Mapping

Use LiDAR to map the static world

Interactive Map Correction for 3D Graph SLAM

OpenCalib: A Multi-sensor Calibration Toolbox for Autonomous Driving

A curated list of awesome datasets for SLAM

Python package for the evaluation of odometry and SLAM

ROS driver for all of MicroStrain's current G and C series products. To learn more visit

Fast LOAM: Fast and Optimized Lidar Odometry And Mapping for indoor/outdoor localization IROS 2021

Robust LiDAR SLAM with a versatile plug-and-play loop closing and pose-graph optimization.

A simple location system based on a priori map, which is based on the lio-sam framework

g2o: A General Framework for Graph Optimization

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain