Repositories list

• 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•115115 stars•00 issues•00 pull requests•Updated Jul 11, 2026Jul 11, 2026

• kaistviodataset

  Public
  "Visual-Inertial Dataset" (RA-L'21 with ICRA'21): it contains harsh motions for VO/VIO, like pure rotation or fast rotation with various motion types.

  visual-inertial-odometryvisual-odometry

  visual-inertial-odometryvisual-odometry

  Shell

  •

  GNU General Public License v3.0

  •99 forks•107107 stars•22 issues•00 pull requests•Updated Jun 17, 2026Jun 17, 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++

  •

  BSD 2-Clause "Simplified" License

  •156156 forks•1k1k 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++

  •

  GNU General Public License v3.0

  •99 forks•185185 stars•00 issues•00 pull requests•Updated May 22, 2026May 22, 2026

• MambaGlue

  Public
  MambaGlue: Fast and Robust Local Feature Matching With Mamba @ ICRA'25

  deep-learningmambaimage-matching+ 5

  deep-learningmambaimage-matchingfeature-matchingmatching-algorithmsupergluelightgluerelative-pose-estimation

  Python

  •

  Apache License 2.0

  •2323 forks•276276 stars•22 issues•00 pull requests•Updated May 21, 2026May 21, 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•443443 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

  •3737 forks•330330 stars•55 issues•00 pull requests•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++

  •

  GNU General Public License v3.0

  •5656 forks•398398 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

• HeLiMOS-visualizer

  Public
  A LiDAR visualization tool for HeLiMOS dataset

  Python

  •

  MIT License

  •11 fork•2626 stars•00 issues•00 pull requests•Updated May 8, 2026May 8, 2026

• gaussianflow-slam

  Public
  [RA-L 26] GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow

  22 forks•1111 stars•11 issue•00 pull requests•Updated May 3, 2026May 3, 2026

• Struct-MDC

  Public
  Official page of Struct-MDC (RA-L'22 with IROS'22); Depth completion from Visual-SLAM using point & line features

  mappingvisual-slamdepth-completion+ 1

  mappingvisual-slamdepth-completionvisual-slam-learning

  Python

  •

  GNU General Public License v3.0

  •88 forks•4949 stars•00 issues•00 pull requests•Updated Mar 16, 2026Mar 16, 2026

• Vision-Language-Autonomy

  Public
  Python

  •11 fork•1212 stars•00 issues•00 pull requests•Updated Dec 30, 2025Dec 30, 2025

• multi-mapcher

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

  00 forks•6868 stars•00 issues•00 pull requests•Updated Nov 1, 2025Nov 1, 2025

• dynaVINS

  Public
  DynaVINS : A Visual-Inertial SLAM for Dynamic Environments

  roboticsslamvisual-inertial-slam

  roboticsslamvisual-inertial-slam

  C++

  •

  GNU General Public License v3.0

  •5959 forks•440440 stars•1515 issues•00 pull requests•Updated Aug 8, 2025Aug 8, 2025

• CoCoA-Mix

  Public
  CoCoA-Mix: Confusion-and-confidence-aware mixture model for context optimization @ ICML'25

  Apache License 2.0

  •11 fork•1010 stars•11 issue•00 pull requests•Updated Jun 25, 2025Jun 25, 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•213213 stars•33 issues•00 pull requests•Updated Mar 27, 2025Mar 27, 2025

• PIDLoc

  Public
  PIDLoc: Cross-View Pose Optimization Network Inspired by PID Controllers @ CVPR'25

  Apache License 2.0

  •00 forks•3232 stars•11 issue•00 pull requests•Updated Mar 8, 2025Mar 8, 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•300300 stars•55 issues•00 pull requests•Updated Aug 3, 2023Aug 3, 2023

• Patchwork2

  Public
  Are you ready for fast and robust ground-segmentation for all terrain robots?

  GNU Affero General Public License v3.0

  •77 forks•132132 stars•11 issue•00 pull requests•Updated Apr 18, 2023Apr 18, 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•214214 stars•44 issues•00 pull requests•Updated Mar 23, 2023Mar 23, 2023

• url_bib_utils

  Public
  Frequently used abbreviations of conf/journals when writing references by latex

  TeX

  •11 fork•44 stars•00 issues•00 pull requests•Updated Oct 30, 2022Oct 30, 2022

• Quatro-LeGO-LOAM

  Public
  C++

  •

  GNU General Public License v3.0

  •88 forks•7272 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

  •2020 forks•183183 stars•44 issues•00 pull requests•Updated Sep 2, 2022Sep 2, 2022

• VinsFusionSC

  Public
  VINS-Fusion combined with Switchable Constraints

  C++

  •

  MIT License

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