Repositories list

• se3-livom-comfort

  Public
  SE(3)-LIVOM for the COMFORT Localization Benchmark

  C++

  •

  GNU General Public License v2.0

  •22 forks•3434 stars•00 issues•00 pull requests•Updated Oct 7, 2026Oct 7, 2026

• se3-lio

  Public
  SE(3)-LIO: Smooth IMU Propagation With Jointly Distributed Poses on SE(3) Manifold for Accurate and Robust LiDAR-Inertial Odometry (ICRA 2026)

  C++

  •

  GNU General Public License v2.0

  •1010 forks•146146 stars•00 issues•11 pull request•Updated Sep 5, 2026Sep 5, 2026

• multi-mapcher

  Public
  Multi-Mapcher: Loop closure detection-free heterogeneous LiDAR multi-session SLAM leveraging outlier-robust registration for autonomous vehicles (T-IV)

  C++

  •

  GNU General Public License v3.0

  •1515 forks•144144 stars•00 issues•00 pull requests•Updated Aug 8, 2026Aug 8, 2026

• patchwork-plusplus

  Public
  Patchwork++: Fast and robust ground segmentation method for 3D LiDAR scans. @ IROS'22

  detectionpoint-cloudlidar+ 6

  detectionpoint-cloudlidarsegmentationground3d-lidarground-detectionground-segmentationground-removal

  C++

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  BSD 2-Clause "Simplified" License

  •161161 forks•1.1k1.1k stars•22 issues•00 pull requests•Updated May 23, 2026May 23, 2026

• ERASOR2

  Public
  [RSS'23] The official Implementation of "ERASOR2: Instance-Aware Robust 3D Mapping of the Static World in Dynamic Scenes"

  C++

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  GNU General Public License v3.0

  •1111 forks•210210 stars•00 issues•00 pull requests•Updated May 22, 2026May 22, 2026

• patchwork-plusplus-ros

  Public
  ROS & ROS2 Implementation of Patchwork++

  point-cloudroslidar+ 5

  point-cloudroslidarsegmentationgroundground-segmentation3d-point-cloudground-removal

  C++

  •

  GNU General Public License v3.0

  •8484 forks•455455 stars•33 issues•22 pull requests•Updated May 21, 2026May 21, 2026

• TRAVEL

  Public
  [RA-L] Traversable ground and above-ground object segmentation using graph representation of 3D LiDAR scans

  lidarsegmentationpointcloud+ 4

  lidarsegmentationpointcloudconventionalinstance-segmentationpoint-cloud-segmentationrange-image

  C++

  •

  GNU General Public License v3.0

  •3939 forks•344344 stars•66 issues•11 pull request•Updated May 19, 2026May 19, 2026

• Quatro

  Public
  Fast and robust global registration for terrestrial robots @ ICRA2022

  registrationpoint-cloud-librarylidar-point-cloud+ 3

  registrationpoint-cloud-librarylidar-point-cloudpoint-cloud-registrationglobal-registrationlidar-registration

  C++

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  GNU General Public License v3.0

  •5757 forks•408408 stars•44 issues•11 pull request•Updated May 10, 2026May 10, 2026

• HeLiMOS-PointCloud-Toolbox

  Public
  HeLiMOS: Heterogeneous LiDAR Dataset for Moving Object Segmentation @ IROS'2024

  detectionpoint-cloudperception+ 9

  detectionpoint-cloudperceptionlidarmossegmentationoutdoorkaist3d-lidarsolid-state-lidar+ 2

  C++

  •77 forks•8686 stars•11 issue•00 pull requests•Updated May 9, 2026May 9, 2026

• dynaVINS

  Public
  DynaVINS : A Visual-Inertial SLAM for Dynamic Environments

  roboticsslamvisual-inertial-slam

  roboticsslamvisual-inertial-slam

  C++

  •

  GNU General Public License v3.0

  •6161 forks•447447 stars•1515 issues•00 pull requests•Updated Aug 8, 2025Aug 8, 2025

• outlier-robust-radar-odometry

  Public
  ORORA: Outlier-robust radar odometry, which is accepted in ICRA'23

  radarodometryradar-data+ 2

  radarodometryradar-dataoutlier-rejectionradar-odometry

  C++

  •

  GNU General Public License v3.0

  •2323 forks•214214 stars•33 issues•00 pull requests•Updated Mar 27, 2025Mar 27, 2025

• UV-SLAM

  Public
  UV-SLAM: Unconstrained Line-based SLAM Using Vanishing Points for Structural Mapping

  roboticsmappingros+ 1

  roboticsmappingrosslam

  C++

  •

  GNU General Public License v3.0

  •4646 forks•302302 stars•55 issues•00 pull requests•Updated Aug 3, 2023Aug 3, 2023

• Ground-Segmentation-Benchmark

  Public
  Ground segmentation benchmark in SemanticKITTI dataset

  lidarpointcloudlidar-point-cloud+ 3

  lidarpointcloudlidar-point-cloudlidar-dataground-detectionground-segmentation

  C++

  •

  GNU General Public License v3.0

  •2626 forks•215215 stars•44 issues•00 pull requests•Updated Mar 23, 2023Mar 23, 2023

• Quatro-LeGO-LOAM

  Public
  C++

  •

  GNU General Public License v3.0

  •88 forks•7171 stars•00 issues•00 pull requests•Updated Sep 2, 2022Sep 2, 2022

• AlterGround-LeGO-LOAM

  Public
  The page for PaGO-LOAM: Robust Ground-Optimized LiDAR Odometry

  C++

  •

  GNU General Public License v3.0

  •2121 forks•183183 stars•44 issues•00 pull requests•Updated Sep 2, 2022Sep 2, 2022

• VinsFusionSC

  Public
  VINS-Fusion combined with Switchable Constraints

  C++

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  MIT License

  •33 forks•4747 stars•00 issues•00 pull requests•Updated Aug 31, 2022Aug 31, 2022