Aslan - Open source self-driving software for low speed environments.
AutoC2X-AW - AutoC2X is cooperative awareness driving software, extension for Autoware and OpenC2X.
2. Planning
omg-tools - Optimal Motion Generation-tools: motion planning made easy.
gbplanner_ros - Graph-based Exploration Planner for Subterranean Environments.
path_planner - Hybrid A* Path Planner for the KTH Research Concept Vehicle.
PathPlanning - Common used path planning algorithms with animations.
MotionPlanning - Motion planning algorithms commonly used on autonomous vehicles. (path planning + path tracking).
se2_navigation - Pure pursuit controller and Reeds-Shepp sampling based planner for navigation in SE(2) space.
far_planner - Fast, Attemptable Route Planner for Navigation in Known and Unknown Environments
mesh_navigation - The Mesh Navigation bundle provides software to perform efficient robot navigation on 2D-manifolds in 3D represented as triangular meshes.
lift-splat-shoot - Lift, Splat, Shoot: Encoding Images from Arbitrary Camera Rigs by Implicitly Unprojecting to 3D (ECCV 2020).
lidar-bonnetal - Semantic and Instance Segmentation of LiDAR point clouds for autonomous driving.
Kimera-Semantics - Real-Time 3D Semantic Reconstruction from 2D data.
semantic_suma - SuMa++: Efficient LiDAR-based Semantic SLAM (Chen et al IROS 2019).
mmsegmentation - OpenMMLab Semantic Segmentation Toolbox and Benchmark.
5. Calibration
multiple-cameras-and-3D-LiDARs-extrinsic-calibration - This repo contains source code of our paper presented in IROS2021 "Single-Shot is Enough: Panoramic Infrastructure Based Calibration of Multiple Cameras and 3D LiDARs"
SensorsCalibration - OpenCalib: A Multi-sensor Calibration Toolbox for Autonomous Driving.
multi_sensor_calibration - A calibration tool to calibrate a sensor setup consisting of lidars, radars and cameras.
camera_calibration - Accurate geometric camera calibration with generic camera models.
image_projection - Image_projection is a ROS package to create various projections from multiple calibrated cameras.
velo2cam_calibration - Automatic Extrinsic Calibration Method for LiDAR and Camera Sensor Setups. ROS Package.
lidar_camera_calibration - Light-weight camera LiDAR calibration package for ROS using OpenCV and PCL (PnP + LM optimization).
atom - Calibration tools for multi-sensor, multi-modal, robotic systems.
FastCertRelPose - Fast and robust certifiable relative pose estimation.
ACSC - Automatic Calibration for Non-repetitive Scanning Solid-State LiDAR and Camera Systems.
kalibr - The Kalibr visual-inertial calibration toolbox.
lidar_IMU_calib - Targetless Calibration of LiDAR-IMU System Based on Continuous-time Batch Estimation.
lidar_align - A simple method for finding the extrinsic calibration between a 3D lidar and a 6-dof pose sensor.
extrinsic_lidar_camera_calibration - This is a package for extrinsic calibration between a 3D LiDAR and a camera, described in paper: Improvements to Target-Based 3D LiDAR to Camera Calibration.
mrcal - MRCAL is a generic toolkit to solve calibration and SFM-like problems originating at NASA/JPL.
6. Detection
MapTR - [ICLR'23 Spotlight] MapTR: Structured Modeling and Learning for Online Vectorized HD Map Construction
patchwork++ - Patchwork++: Fast and robust ground segmentation method for 3D point cloud. @ IROS'22.
urban_road_filter - Real-time LIDAR-based Urban Road and Sidewalk detection for Autonomous Vehicles.
conditional-lane-detection - "CondLaneNet: a Top-to-down Lane Detection Framework Based on ConditionalConvolution".
LaneATT - Code for the paper entitled "Keep your Eyes on the Lane: Real-time Attention-guided Lane Detection" (CVPR 2021).
Pseudo-LiDAR - (CVPR 2019) Pseudo-LiDAR from Visual Depth Estimation: Bridging the Gap in 3D Object Detection for Autonomous Driving.
depth_clustering - Fast and robust clustering of point clouds generated with a Velodyne sensor.
AB3DMOT - Official Python Implementation for "3D Multi-Object Tracking: A Baseline and New Evaluation Metrics".
CLOCs - CLOCs: Camera-LiDAR Object Candidates Fusion for 3D Object Detection
CenterFusion - CenterFusion: Center-based Radar and Camera Fusion for 3D Object Detection.
CenterPoint - Center-based 3D Object Detection and Tracking.
OpenPCDet - OpenPCDet Toolbox for LiDAR-based 3D Object Detection.
LaneDetection_End2End - End-to-end Lane Detection for Self-Driving Cars (ICCV 2019 Workshop).
VoxelNetRos - Implement the VoxelNet with ROS, using Kitti data to test.
PLARD - Progressive LiDAR Adaptation for Road Detection.
RoadMarkingExtraction - A C++ Program for automatically extraction of road markings from MLS or ALS point cloud [ISPRS-A' 19].
7. Control
MPCC - Model Predictive Contouring Controller (MPCC) for Autonomous Racing.
mpc_local_planner - It provides a generic and versatile model predictive control implementation with minimum-time and quadratic-form receding-horizon configurations.
8. SLAM
8.1. Lidar-based
LT-mapper - A Modular Framework for LiDAR-based Lifelong Mapping.
clins - CLINS: Continuous-Time Trajectory Estimation for LiDAR-Inertial System.
LIO-SAM - LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping.
LINS---LiDAR-inertial-SLAM - A Lidar-Inertial State Estimator for Robust and Efficient Navigation based on iterated error-state Kalman filter.
LaMa - A Localization and Mapping library. Low computational effort and low memory usage whenever possible.
LeGO-LOAM - Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain.
loam_livox - A robust LiDAR Odometry and Mapping (LOAM) package for Livox-LiDAR.
decentralized_loam - A decentralized framework for simultaneous calibration, localization and mapping with multiple LiDARs
rtklib_ros_bridge - Rtklib_ros_bridge is a package that outputs the latitude and longitude, satellite reception status, altitude, ecef xyz, ecef velocity vector, and Time of Week (GPS Time) calculated by RTKLIB as ROS messages.
ntpd_driver - This node convert ROS TimeReference message to ntpd-shm format.
eagleye - Precise localization based on GNSS and IMU.
GPS_IMU_Kalman_Filter - Fusing GPS, IMU and Encoder sensors for accurate state estimation.
imu_utils - A ROS package tool to analyze the IMU performance.
10. Dataset
Argoverse 2 dataset - Official GitHub repository for the Argoverse 2 family of datasets.
kapture - Kapture is a file format as well as a set of tools for manipulating datasets, and in particular Visual Localization and Structure from Motion data.
UrbanLoco - UrbanLoco: A Full Sensor Suite Dataset for Mapping and Localization in Urban Scenes.
UrbanNavDataset - UrbanNav: an Open-Sourcing Localization Data Collected in Asian Urban Canyons, Including Tokyo and Hong Kong.
MegBA - MegBA: A Distributed High-Performance Library for Large-Scale Bundle Adjustment with GPUs.
ikd-Tree - This repository provides implementation of an incremental k-d tree for robotic applications.
ros_msft_onnx - ONNX Runtime for the Robot Operating System (ROS), works on ROS1 and ROS2.
catkin_virtualenv - Bundle python requirements in a catkin package via virtualenv.
pal_statistics - The PAL Statistics Framework provides a way of gathering, aggregating, storing and visualizing statistics from arbitrary sources in a flexible and real-time safe way in ROS.
CARLA Autonomous Driving Leaderboard - The main goal of the CARLA Autonomous Driving Leaderboard is to evaluate the driving proficiency of autonomous agents in realistic traffic situations.
PUMA - Poisson Surface Reconstruction for LiDAR Odometry and Mapping.
RoboStack for ROS Noetic - RoboStack, which tightly couples ROS with Conda, a cross-platform, language-agnostic package manager.
modelzoo - A collection of machine-learned models for use in autonomous driving applications.
ROSIntegration - Unreal Engine Plugin to enable ROS Support.
jupyter-ros - Jupyter widget helpers for ROS, the Robot Operating System.
jupyterlab-ros - Helper extensions for running ROS from within JupyterLab.
rosbag_editor - Create a rosbag from a given one, using a simple GUI.
laser_line_extraction - A ROS package that extracts line segments from LaserScan messages.
python-pcl - Python bindings to the pointcloud library (pcl).
ros_deep_learning - Deep learning inference nodes for ROS with support for NVIDIA Jetson TX1/TX2/Xavier and TensorRT.
imgui_ros - View ros images, visualize in 2D and 3D, and interact with nodes through topics and services using ocornut/imgui.
ROS-Mobile-Android - Visualization and controlling application for Android.
PPTK - The Point Processing Toolkit (pptk) is a Python package for visualizing and processing 2-d/3-d point clouds.
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