3d-mapping 开源项目推荐（96 个）

TixiaoShan /LIO-SAM

LIO-Sam：通过平滑和绘图的紧耦合激光雷达惯性里程计

hku-mars /r3live

A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package

PRBonn /kiss-icp

一个刚刚工作的LiDART里程计管道

vectr-ucla /direct_lidar_inertial_odometry

[IEEE ICRA'23] A new lightweight LiDAR-inertial odometry algorithm with a novel coarse-to-fine approach in constructing continuous-time trajectories for precise motion correction.

vectr-ucla /direct_lidar_odometry

[IEEE RA-L & ICRA'22] A lightweight and computationally-efficient frontend LiDAR odometry solution with consistent and accurate localization.

MIT-SPARK /KISS-Matcher

KISS-Matcher: Fast, Robust, and Scalable Registration + ROS2 SLAM examples

PRBonn /PIN_SLAM

📍PIN-SLAM：利用基于点的隐式神经表示实现全局地图一致性的激光雷达SLAM [TRO' 24]

KIT-ISAS /lili-om

LiLi-OM是一种紧密耦合的基于关键帧的LiDAR惯性里程测量和映射系统，适用于固态激光雷达和传统激光雷达。

PRBonn /SHINE_mapping

🌟 SHINE-Mapping: Large-Scale 3D Mapping Using Sparse Hierarchical Implicit Neural Representations (ICRA 2023)

PRBonn /kinematic-icp

A LiDAR odometry pipeline for wheeled mobile robots

Huguet57 /LIMO-Velo

A real-time, direct and tightly-coupled LiDAR-Inertial SLAM for high velocities with spinning LiDARs

mukundbala /Rolling-Bonxai

A rolling voxel grid implementation of Bonxai to handle large maps in ROS 2

xingyuuchen /LIO-PPF

[IROS 2023] Fast LiDAR-Inertial Odometry via Incremental Plane Pre-Fitting and Skeleton Tracking

google-research /snap

SNAP: Self-supervised Neural Maps for Visual Positioning and Semantic Understanding (NeurIPS 2023)

qdLMF /LIO-SAM-GPU-ScanToMapOpt

A CUDA reimplementation of the line/plane odometry of LIO-SAM. A point cloud hash map (inspired by iVox of Faster-LIO) on GPU is used to accelerate 5-neighbour KNN search. Run on Jetson Orin NX 8GB.

x4dqn /Open3Dmap

Open-source platform for GPS-anchored 3D mapping using crowdsourced mobile scans

Taeyoung96 /OctoMap-ROS2

[ROS2 humble] Convert 3D LiDAR map to 2D Occupancy Grid Map

xingyuuchen /faster-lio-ppf

[IROS 2023] Fast LiDAR-Inertial Odometry via Incremental Plane Pre-Fitting and Skeleton Tracking

lights0123 /LED3DMap

A tool to automatically create 3D mappings of lights from two videos

rpng /online_lang_splatting

[ICCV 2025] Official Implementation of "Online Language Splatting"