- Contents
- 1. Self-Driving Software
- 2. Planning
- 3. HD Map
- 4. Semantic
- 5. Calibration
- 6. Detection
- 7. Control
- 8. SLAM
- 9. GPS, IMU
- 10. Dataset
- 11. Simulation
- 12. Visualization
- 13. Web
- 14. Study
- 15. Other Tool
- 16. Other Awesome
- 17. For Chinese
- apollo - An open autonomous driving platform.
- Autoware.ai - Open-source software for self-driving vehicles.
- AutowareArchitectureProposal.proj - This is the source code of the feasibility study for Autoware architecture proposal.
- self-driving-ish_computer_vision_system - This project generates images you've probably seen in autonomous driving demo.
- Aslan - Open source self-driving software for low speed environments.
- AutoC2X-AW - AutoC2X is cooperative awareness driving software, extension for Autoware and OpenC2X.
- gbplanner_ros - Graph-based Exploration Planner for Subterranean Environments.
- omg-tools - Optimal Motion Generation-tools: motion planning made easy.
- 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.
- mesh_navigation - The Mesh Navigation bundle provides software to perform efficient robot navigation on 2D-manifolds in 3D represented as triangular meshes.
- path_optimizer - Real-time path planning for vehicles.
- full_coverage_path_planner - Full coverage path planning provides a move_base_flex plugin that can plan a path that will fully cover a given area.
- conformal_lattice_planner - conformal lattice planner C++ implementations for autonomous driving tasks. The software is build upon Carla and ROS.
- fmm - Fast map matching, an open source framework in C++.
- Tier4 Tool - Vector Map Builder is a tool that helps to create a vector map from point cloud data.
- MapToolbox - Plugins to make Lanelet2/vector_map in Unity.
- AssureMappingTools - Desktop based tool for viewing, editing and saving road network maps for autonomous vehicle platforms such as Autoware.
- Lanelet2 - Map handling framework for automated driving.
- lanelet_rviz_plugin_ros - Rviz Plugin for displaying a lanelet2 map.
- JOSM - The Java OpenStreetMap Editor.
- prettymaps - A small set of Python functions to draw pretty maps from OpenStreetMap data. Based on osmnx, matplotlib and shapely libraries.
- GMapCatcher - An offline map viewer.
- libOpenDRIVE - Small, lightweight C++ library for handling OpenDRIVE filess.
- opendriveparser - OpenDRIVE Map parser.
- OpenDriveOnlineEditor - Web based viewer of OpenDrive (xodr) files (editing not implemented yet).
- OpenHDMap - An open HD map production process for autonomous car simulation.
- opendrive2lanelets-converter - This is an unofficial copy of https://commonroad.in.tum.de/tools/opendrive2lanelet.
- opendrive2lanelet - Opendrive to lanelet2.
- osm2xodr - Converter for OpenStreetMaps to OpenDrive roads - for use with Carla or other things.
- xodr-OSM-Converter - OpenDrive to osm.
- osm2opendrive - A tool for generating OpenDRIVE maps from OpenStreetMap data.
- VectorMap2Opendrive - Convert Autoware vector map to Opendrive format.
- 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.
- 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.
- SensorCalibration - IMU-Lidar Extrinsic Calibration Package.
- 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.
- 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".
- JRMOT_ROS - A Real-Time 3D Multi-Object Tracker.
- bbox - Python library for 2D/3D bounding boxes.
- 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].
- 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.
- 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.
- r2live - R2LIVE is a robust, real-time tightly-coupled multi-sensor fusion framework, which fuses the measurement from the LiDAR, inertial sensor, visual camera to achieve robust, accurate state estimation.
- 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.
- SSL_SLAM2 - Lightweight 3-D Localization and Mapping for Solid-State LiDAR (mapping and localization separated) ICRA 2021.
- iscloam - Intensity Scan Context based full SLAM implementation for autonomous driving. ICRA 2020.
- 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
- SC-LIO-SAM - LiDAR-inertial SLAM: Scan Context + LIO-SAM.
- MULLS - MULLS: Versatile LiDAR SLAM via Multi-metric Linear Least Square.
- lili-om - LiLi-OM is a tightly-coupled, keyframe-based LiDAR-inertial odometry and mapping system for both solid-state-LiDAR and conventional LiDARs.
- PyICP-SLAM - Full-python LiDAR SLAM using ICP and Scan Context.
- SC-LeGO-LOAM - LiDAR SLAM: Scan Context + LeGO-LOAM.
- A-LOAM - Advanced implementation of LOAM.
- floam - Fast LOAM: Fast and Optimized Lidar Odometry And Mapping for indoor/outdoor localization (Lidar SLAM).
- hdl_graph_slam - 3D LIDAR-based Graph SLAM.
- lio-mapping - Implementation of Tightly Coupled 3D Lidar Inertial Odometry and Mapping (LIO-mapping).
- StaticMapping - Use LiDAR to map the static world.
- M-LOAM - Robust Odometry and Mapping for Multi-LiDAR Systems with Online Extrinsic Calibration.
- T-LOAM - T-LOAM: Truncated Least Squares Lidar-only Odometry and Mapping in Real-Time.
- VINS-Fusion - An optimization-based multi-sensor state estimator
- VINS-Mono - A Robust and Versatile Monocular Visual-Inertial State Estimator.
- ov2slam - OV²SLAM is a Fully Online and Versatile Visual SLAM for Real-Time Applications.
- ORB_SLAM3 - ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM.
- r3live - A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package.
- LVI-SAM - LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping.
- CamVox - A low-cost SLAM system based on camera and Livox lidar.
- Faster-LIO - Faster-LIO: Lightweight Tightly Coupled Lidar-inertial Odometry using Parallel Sparse Incremental Voxels.
- FAST_LIO - A computationally efficient and robust LiDAR-inertial odometry (LIO) package.
- ESVO - This repository maintains the implementation of "Event-based Stereo Visual Odometry".
- LOL - LOL: Lidar-only Odometry and Localization in 3D point cloud maps.
- Quatro - Fast and robust global registration for terrestrial robots @ ICRA2022.
- UnsupervisedR&R - Unsupervised Pointcloud Registration via Differentiable Rendering.
- 3d-icp-cov - Code for the paper "A New Approach to 3D ICP Covariance Estimation for Mobile Robotics".
- TEASER-plusplus - A fast and robust point cloud registration library.
- FS3R - A Fast Symbolic 3D Registration Solution from HKUST RAM-LAB.
- voxgraph - Voxblox-based Pose graph optimization.
- Kimera-RPGO - Robust Pose Graph Optimization.
- MOLA - A Modular Optimization framework for Localization and mapping.
- scancontext - Global LiDAR descriptor for place recognition and long-term localization.
- OverlapNet - OverlapNet - Loop Closing for 3D LiDAR-based SLAM (chen2020rss).
- evo - Python package for the evaluation of odometry and SLAM.
- libRSF - A robust sensor fusion library for online localization.
- interactive_slam - Interactive Map Correction for 3D Graph SLAM.
- slam_docker_collection - A collection of docker environments for 3D SLAM packages.
- removert - Remove then revert (IROS 2020).
- imu_tools - ROS tools for IMU devices.
- PPPLib - Precise Point Positioning Library.
- RTKLIB - RTKLIB is an open source program package for standard and precise positioning. with GNSS (global navigation satellite system).
- gnss-ins-sim - Open-source GNSS + inertial navigation, sensor fusion simulator. Motion trajectory generator, sensor models, and navigation.
- 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.
- 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.
- mapping_dataset_styria - Open mapping dataset of styria in Austria.
- LGSVL - A ROS/ROS2 Multi-robot Simulator for Autonomous Vehicles.
- carla - Open-source simulator for autonomous driving research.
- autocore_sim - A ROS1/ROS2 Multi-robot Simulator for Autoware.
- highway-env - A minimalist environment for decision-making in autonomous driving.
- rosshow - Visualize ROS topics inside a terminal with Unicode/ASCII art.
- rosbag_fancy - Fancy terminal UI for rosbag.
- zethus - Realtime robot data visualization in the browser.
- webviz - Web-based visualization libraries.
- Foxglove Studio - Foxglove Studio (foxglove.dev) is an integrated visualization and diagnosis tool for robotics.
- rviz_satellite - Display internet satellite imagery in RViz.
- mapviz - Modular ROS visualization tool for 2D data.
- streetscape.gl - Visualization framework for autonomy and robotics data encoded in XVIZ.
- rviz_visual_tools - C++ API wrapper for displaying shapes and meshes in Rviz.
- PlotJuggler - The Time Series Visualization Tool that you deserve.
- rosboard - ROS node that turns your robot into a web server to visualize ROS topics.
- webrtc_ros - Streaming of ROS Image Topics using WebRTC.
- AutomanTools - AutomanTools is an open-source software for self-driving AI.
- Rosbag-Analyser - Interactive Post-mortem/Live Analysis of ROS Bag Files.
- visual-slam-roadmap - Roadmap to becoming a Visual-SLAM developer in 2021.
- RosHowTwo - A place to find and share ROS2 learning resources!
- Eigen-Cheatsheet - A cheatsheet of Eigen, the C++ linear algebra library.
- slambook2 - Edition 2 of the slambook.
- CppRobotics - Cpp implementation of robotics algorithms including localization, mapping, SLAM, path planning and control.
- self-driving-car - The Udacity open source self-driving car project.
- Dig-into-Apollo - Apollo notes - Apollo learning notes for beginners.
- Autoware_tutorial - Autoware Simple Tutorial for Self-driving Car.
- 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.
- ICRA2021-SLAM-paper-list - ICRA2021-SLAM-paper-list.
- Lidar_For_AD_references - A list of references on lidar point cloud processing for autonomous driving.
- Recent_SLAM_Research - Track Advancement of SLAM 跟踪SLAM前沿动态【2020 version】.
- Awesome-3D-Detectors - Paperlist of awesome 3D detection methods.
- awesome-pointcloud-processing - Awesome PointCloud processing algorithm.
- awesome-robotic-tooling - Tooling for professional robotic development in C++ and Python with a touch of ROS, autonomous driving and aerospace.
- awesome-data-labeling - A curated list of awesome data labeling tools.
- Awesome-Autonomous-Driving - Survey for Autonomous Driving Papers.
- awesome-autonomous-vehicles - Curated List of Self-Driving Cars and Autonomous Vehicles Resources.
- awesome-point-cloud-processing - A curated list of awesome Point Cloud Processing Resources, Libraries, Software.
- awesome-point-cloud-analysis - A list of papers and datasets about point cloud analysis (processing).
- LOAM_NOTED - loam code noted in Chinese(loam中文注解版).
- LeGO-LOAM_NOTED - LeGO-LOAM代码注释与学习.
- loam_leanring - Include loam_velodyne code and A-LOAM code with chinese explaintion.I also put some papers related to loam in it.
- UpdatingHDmapByMonoCamera - A hdmap updating project by mono camera and gps.
- awesome-autonomous-vehicle - 无人驾驶的资源列表中文版.
- Apollo_learning - Apollo 学习笔记.
- python-parallel-programming-cookbook-cn - 📖《Python Parallel Programming Cookbook》中文版.
- SLAM-BOOK - 这是一本关于SLAM的书稿,希望能清楚的介绍SLAM系统中的使用的几何方法和深度学习方法。书稿最后应该会达到400页左右,书稿每章对应的代码也会被整理出来.
- surround-view-system-introduction - 一份简单的环视系统制作实现,包含完整的标定、投影、拼接和实时运行流程.
- opensource_slam_noted - Open source slam system notes.
- Statistical-Learning-Method_Code - 手写实现李航《统计学习方法》书中全部算法.
- DeepLearning - Python for《Deep Learning》,该书为《深度学习》(花书) 数学推导、原理剖析与源码级别代码实现.
- localization_in_auto_driving - 从零开始做自动驾驶定位.
- Effective-Modern-Cpp-Zh - 42 SPECIFIC WAYS TO IMPROVE YOUR USE OF C++11 AND C++14 中文版.
- PCL-Notes - Pcl learning notes.