Awesome LIDAR 
A curated list of awesome LIDAR sensors and its applications.
LIDAR is a remote sensing sensor that uses laser light to measure the surroundings in ~cm accuracy. The sensory data is usually referred as point cloud which means set of data points in 3D or 2D. The list contains hardwares, datasets, point cloud-processing algorithms, point cloud frameworks, simulators etc.
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Contents
- Conventions
- Manufacturers
- Datasets
- Libraries
- Frameworks
- Algorithms
- Simulators
- Related awesome
- Others
Conventions
- Any list item with an OctoCat
has a GitHub repo or organization - Any list item with a RedCircle
π΄ has YouTube videos or channel - Any list item with a Paper
π° has a scientific paper or detailed description
Manufacturers
- Velodyne - Velodyne is a mechanical and solid-state LIDAR manufacturer. The headquarter is in San Jose, California, USA.
- Ouster - LIDAR manufacturer, specializing in digital-spinning LiDARs. Ouster is headquartered in San Francisco, USA.
- Livox - LIDAR manufacturer.
- SICK - Sensor and automation manufacturer, the headquarter is located in Waldkirch, Germany.
- Hokuyo - Sensor and automation manufacturer, headquartered in Osaka, Japan.
- Pioneer - LIDAR manufacturer, specializing in MEMS mirror-based raster scanning LiDARs (3D-LiDAR). Pioneer is headquartered in Tokyo, Japan.
- Luminar - LIDAR manufacturer focusing on compact, auto-grade sensors. Luminar is headquartered Palo Alto, California, USA.
- Hesai - Hesai Technology is a LIDAR manufacturer, founded in Shanghai, China.
- Robosense - RoboSense (Suteng Innovation Technology Co., Ltd.) is a LIDAR sensor, AI algorithm and IC chipset maufactuirer based in Shenzhen and Beijing (China).
- Ibeo - Ibeo Automotive Systems GmbH is an automotive industry / environmental detection laserscanner / LIDAR manufacturer, based in Hamburg, Germany.
- Innoviz - Innoviz technologies / specializes in solid-state LIDARs.
- Quanenergy - Quanenergy Systems / solid-state and mechanical LIDAR sensors / offers End-to-End solutions in Mapping, Industrial Automation, Transportation and Security. The headquarter is located in Sunnyvale, California, USA.
- Cepton - Cepton (Cepton Technologies, Inc.) / pioneers in frictionless, and mirrorless design, self-developed MMT (micro motion technology) lidar technology. The headquarter is located in San Jose, California, USA.
- Blickfeld - Blickfeld is a solid-state LIDAR manufacturer for autonomous mobility and IoT, based in MΓΌnchen, Germany.
- Neuvition - Neuvition is a solid-state LIDAR manufacturer based in Wujiang, China.
Datasets
- Ford Dataset - The dataset is time-stamped and contains raw data from all the sensors, calibration values, pose trajectory, ground truth pose, and 3D maps. The data is Robot Operating System (ROS) compatible.
- Audi A2D2 Dataset - The dataset features 2D semantic segmentation, 3D point clouds, 3D bounding boxes, and vehicle bus data.
- Waymo Open Dataset - The dataset contains independently-generated labels for lidar and camera data, not simply projections.
- Oxford RobotCar - The Oxford RobotCar Dataset contains over 100 repetitions of a consistent route through Oxford, UK, captured over a period of over a year.
- EU Long-term Dataset - This dataset was collected with our robocar (in human driving mode of course), equipped up to eleven heterogeneous sensors, in the downtown (for long-term data) and a suburb (for roundabout data) of MontbΓ©liard in France. The vehicle speed was limited to 50 km/h following the French traffic rules.
- NuScenes - Public large-scale dataset for autonomous driving.
- Lyft - Public dataset collected by a fleet of Ford Fusion vehicles equipped with LIDAR and camera.
- KITTI - Widespread public dataset, pirmarily focusing on computer vision applications, but also contains LIDAR point cloud.
- Semantic KITTI - Dataset for semantic and panoptic scene segmentation.
- CADC - Canadian Adverse Driving Conditions Dataset - Public large-scale dataset for autonomous driving in adverse weather conditions (snowy weather).
- UofTPed50 Dataset - University of Toronto, aUToronto's self-driving car dataset, which contains GPS/IMU, 3D LIDAR, and Monocular camera data. It can be used for 3D pedestrian detection.
- PandaSet Open Dataset - Public large-scale dataset for autonomous driving provided by Hesai & Scale. It enables researchers to study challenging urban driving situations using the full sensor suit of a real self-driving-car.
- Cirrus dataset A public datatset from non-uniform distribution of LIDAR scanning patterns with emphasis on long range. In this dataset Luminar Hydra LIDAR is used. The dataset is available at the Volvo Cars Innovation Portal.
- USyd Dataset- The Univerisity of Sydney Campus- Dataset - Long-term, large-scale dataset collected over the period of 1.5 years on a weekly basis over the University of Sydney campus and surrounds. It includes multiple sensor modalities and covers various environmental conditions. ROS compatible
Libraries
- Point Cloud Library (PCL) - Popular highly parallel programming library, with numerous industrial and research use-cases.
- Open3D library - Open3D library contanins 3D data processing and visualization algorithms. It is open-source and supports both C++ and Python.
- PyTorch Geometric
π° - A geometric deep learning extension library for PyTorch. - PyTorch3d - PyTorch3d is a library for deep learning with 3D data written and maintained by the Facebook AI Research Computer Vision Team.
- Kaolin - Kaolin is a PyTorch Library for Accelerating 3D Deep Learning Research written by NVIDIA Technologies for game and application developers.
- PyVista - 3D plotting and mesh analysis through a streamlined interface for the Visualization Toolkit.
- pyntcloud - Pyntcloud is a Python 3 library for working with 3D point clouds leveraging the power of the Python scientific stack.
- pointcloudset - Python library for efficient analysis of large datasets of point clouds recorded over time.
Frameworks
- Autoware - Popular framework in academic and research applications of autonomous vehicles.
- Baidu Apollo - Apollo is a popular framework which accelerates the development, testing, and deployment of Autonomous Vehicles.
Algorithms
Basic matching algorithms
- Iterative closest point
π΄ - The must-have algorithm for feature matching applications (ICP).- GitHub repository - simpleICP C++ /Julia / Matlab / Octave / Python implementation.
- GitHub repository - libpointmatcher, a modular library implementing the ICP algorithm.
- Paper
π° - libpointmatcher: Comparing ICP variants on real-world data sets.
- GitHub repository
- Normal distributions transform
π΄ - More recent massively-parallel approach to feature matching (NDT).
Semantic segmentation
- RangeNet++
π° - Fast and Accurate LiDAR Sematnic Segmentation with fully convolutional network. - PolarNet
π° - An Improved Grid Representation for Online LiDAR Point Clouds Semantic Segmentation. - Frustum PointNets
π° - Frustum PointNets for 3D Object Detection from RGB-D Data. - Study of LIDAR Semantic Segmentation - Scan-based Semantic Segmentation of LiDAR Point Clouds: An Experimental Study IV 2020.
- LIDAR-MOS
π° - Moving Object Segmentation in 3D LIDAR Data - Plane Seg - ROS comapatible ground plane segmentation; a library for fitting planes to LIDAR.
- SuperPoint Graph
π° - Large-scale Point Cloud Semantic Segmentation with Superpoint Graphs
Simultaneous localization and mapping SLAM and LIDAR-based odometry and or mapping LOAM
- LOAM J. Zhang and S. Singh
π΄ - LOAM: Lidar Odometry and Mapping in Real-time. - LeGO-LOAM - A lightweight and ground optimized lidar odometry and mapping (LeGO-LOAM) system for ROS compatible UGVs.
- Cartographer - Cartographer is ROS compatible system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
- SuMa++
π° - LiDAR-based Semantic SLAM. - OverlapNet
π° - Loop Closing for LiDAR-based SLAM. - LIO-SAM
π° - Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping. - Removert
π° - Remove, then Revert: Static Point cloud Map Construction using Multiresolution Range Images.
Object detection and object tracking
- Learning to Optimally Segment Point Clouds
π° - By Peiyun Hu, David Held, and Deva Ramanan at Carnegie Mellon University. IEEE Robotics and Automation Letters, 2020. - Leveraging Heteroscedastic Aleatoric Uncertainties for Robust Real-Time LiDAR 3D Object Detection
π° - By Di Feng, Lars Rosenbaum, Fabian Timm, Klaus Dietmayer. 30th IEEE Intelligent Vehicles Symposium, 2019. - What You See is What You Get: Exploiting Visibility for 3D Object Detection
π° - By Peiyun Hu, Jason Ziglar, David Held, Deva Ramanan, 2019. - urban_road_filter
π° - Real-Time LIDAR-Based Urban Road and Sidewalk Detection for Autonomous Vehicles
Simulators
- CoppeliaSim - Cross-platform general-purpose robotic simulator (formerly known as V-REP).
- OSRF Gazebo - OGRE-based general-purpose robotic simulator, ROS/ROS2 compatible.
- CARLA - Unreal Engine based simulator for automotive applications. Compatible with Autoware, Baidu Apollo and ROS/ROS2.
- LGSVL - Unity Engine based simulator for automotive applications. Compatible with Autoware, Baidu Apollo and ROS/ROS2.
- AirSim - Unreal Engine based simulator for drones and automotive. Compatible with ROS.
Related awesome
- Awesome point cloud analysis
- Awesome robotics
- Awesome robotics libraries
- Awesome ROS2
- Awesome artificial intelligence
- Awesome computer vision
- Awesome machine learning
- Awesome deep learning
- Awesome reinforcement learning
- Awesome SLAM datasets
- Awesome electronics
- Awesome vehicle security and car hacking
Others
- ARHeadsetKit - Using $5 Google Cardboard to replicate Microsoft Hololens. Hosts the source code for research on scene color reconstruction.
- Pointcloudprinter - A tool to turn point cloud data from aerial lidar scans into solid meshes for 3D printing.
- CloudCompare - CloudCompare is a free, cross-platform point cloud editor software.
- Pcx - Point cloud importer/renderer for Unity.
- Bpy - Point cloud importer/renderer/editor for Blender, Point Cloud visualizer.
- Semantic Segmentation Editor - Point cloud and image semantic segmentation editor by Hitachi Automotive And Industry Laboratory, point cloud annotator / labeling.
- 3D Bounding Box Annotation Tool - 3D BAT: A Semi-Automatic, Web-based 3D Annotation Toolbox for Full-Surround, Multi-Modal Data Streams, point cloud annotator / labeling.
- Photogrammetry importer - Blender addon to import reconstruction results of several libraries.
- Foxglove - Foxglove Studio is an integrated visualization and diagnosis tool for robotics, available in your browser or for download as a desktop app on Linux, Windows, and macOS.