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.
Contributions are welcome! Please
check out our guidelines.
Contents
Conventions
-
Any list item with an OctoCat :octocat: has a GitHub repo or
organization
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Any list item with a RedCircle :red_circle: has YouTube videos or
channel
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Any list item with a Paper :newspaper: has a scientific paper or
detailed description
Manufacturers
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Velodyne - Velodyne is a
mechanical and solid-state LIDAR manufacturer. The headquarter is in San
Jose, California, USA.
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Ouster - LIDAR manufacturer,
specializing in digital-spinning LiDARs. Ouster is headquartered in San
Francisco, USA.
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Livox - LIDAR manufacturer.
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SICK - Sensor and automation
manufacturer, the headquarter is located in Waldkirch, Germany.
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Hokuyo - Sensor and automation
manufacturer, headquartered in Osaka, Japan.
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Pioneer -
LIDAR manufacturer, specializing in MEMS mirror-based raster scanning
LiDARs (3D-LiDAR). Pioneer is headquartered in Tokyo, Japan.
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Luminar - LIDAR manufacturer
focusing on compact, auto-grade sensors. Luminar is headquartered Palo
Alto, California, USA.
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Hesai - Hesai Technology is a
LIDAR manufacturer, founded in Shanghai, China.
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Robosense - RoboSense (Suteng
Innovation Technology Co., Ltd.) is a LIDAR sensor, AI algorithm and IC
chipset maufactuirer based in Shenzhen and Beijing (China).
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Ibeo - Ibeo Automotive Systems
GmbH is an automotive industry / environmental detection laserscanner /
LIDAR manufacturer, based in Hamburg, Germany.
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Innoviz - Innoviz technologies /
specializes in solid-state LIDARs.
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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.
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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.
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Blickfeld - Blickfeld is a
solid-state LIDAR manufacturer for autonomous mobility and IoT, based in
München, Germany.
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Neuvition - Neuvition is a
solid-state LIDAR manufacturer based in Wujiang, China.
Datasets
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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.
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Audi A2D2 Dataset - The dataset
features 2D semantic segmentation, 3D point clouds, 3D bounding boxes,
and vehicle bus data.
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Waymo Open Dataset - The dataset
contains independently-generated labels for lidar and camera data, not
simply projections.
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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.
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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 Montbéliard
in France. The vehicle speed was limited to 50 km/h following the French
traffic rules.
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NuScenes - Public large-scale
dataset for autonomous driving.
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Lyft - Public dataset
collected by a fleet of Ford Fusion vehicles equipped with LIDAR and
camera.
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KITTI -
Widespread public dataset, pirmarily focusing on computer vision
applications, but also contains LIDAR point cloud.
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Semantic KITTI - Dataset for
semantic and panoptic scene segmentation.
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CADC - Canadian Adverse Driving Conditions Dataset
- Public large-scale dataset for autonomous driving in adverse weather
conditions (snowy weather).
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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.
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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.
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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.
Libraries
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Point Cloud Library (PCL) -
Popular highly parallel programming library, with numerous industrial
and research use-cases.
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Open3D library -
Open3D library contanins 3D data processing and visualization
algorithms. It is open-source and supports both C++ and Python.
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PyTorch Geometric :newspaper:
- A geometric deep learning extension library for PyTorch.
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PyTorch3d - PyTorch3d is a library
for deep learning with 3D data written and maintained by the Facebook AI
Research Computer Vision Team.
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Kaolin - Kaolin
is a PyTorch Library for Accelerating 3D Deep Learning Research written
by NVIDIA Technologies for game and application developers.
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PyVista - 3D plotting and mesh
analysis through a streamlined interface for the Visualization Toolkit.
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pyntcloud -
Pyntcloud is a Python 3 library for working with 3D point clouds
leveraging the power of the Python scientific stack.
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pointcloudset
- Python library for efficient analysis of large datasets of point
clouds recorded over time.
Frameworks
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Autoware - Popular framework in
academic and research applications of autonomous vehicles.
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Baidu Apollo - Apollo is a popular
framework which accelerates the development, testing, and deployment of
Autonomous Vehicles.
Algorithms
Basic matching algorithms
Semantic segmentation
Simultaneous localization and mapping SLAM and LIDAR-based odometry and or
mapping LOAM
Object detection and object tracking
-
Learning to Optimally Segment Point Clouds :newspaper:
- By Peiyun Hu, David Held, and Deva Ramanan at Carnegie Mellon
University. IEEE Robotics and Automation Letters, 2020.
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Leveraging Heteroscedastic Aleatoric Uncertainties for Robust
Real-Time LiDAR 3D Object Detection :newspaper:
- By Di Feng, Lars Rosenbaum, Fabian Timm, Klaus Dietmayer. 30th IEEE
Intelligent Vehicles Symposium, 2019.
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What You See is What You Get: Exploiting Visibility for 3D Object
Detection :newspaper:
- By Peiyun Hu, Jason Ziglar, David Held, Deva Ramanan, 2019.
Simulators
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CoppeliaSim -
Cross-platform general-purpose robotic simulator (formerly known as
V-REP).
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OSRF Gazebo - OGRE-based
general-purpose robotic simulator, ROS/ROS2 compatible.
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CARLA - Unreal Engine based simulator
for automotive applications. Compatible with Autoware, Baidu Apollo and
ROS/ROS2.
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LGSVL - Unity Engine based
simulator for automotive applications. Compatible with Autoware, Baidu
Apollo and ROS/ROS2.
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AirSim - Unreal Engine
based simulator for drones and automotive. Compatible with ROS.
Others