PRBonn

A LiDAR odometry pipeline that just works

Fast and robust clustering of point clouds generated with a Velodyne sensor.

Semantic and Instance Segmentation of LiDAR point clouds for autonomous driving

SuMa++: Efficient LiDAR-based Semantic SLAM (Chen et al IROS 2019)

SemanticKITTI API for visualizing dataset, processing data, and evaluating results.

OverlapNet - Loop Closing for 3D LiDAR-based SLAM (chen2020rss)

(LMNet) Moving Object Segmentation in 3D LiDAR Data: A Learning-based Approach Exploiting Sequential Data (RAL/IROS 2021)

A Robust Approach for LiDAR-Inertial Odometry Without Sensor-Specific Modelling

C++/Python Sparse Volumetric TSDF Fusion

📍PIN-SLAM: LiDAR SLAM Using a Point-Based Implicit Neural Representation for Achieving Global Map Consistency [TRO 24]

A LiDAR SLAM system that just works

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

Effectively Detecting Loop Closures using Point Cloud Density Maps

Poisson Surface Reconstruction for LiDAR Odometry and Mapping

Inference module for RangeNet++ (milioto2019iros, chen2019iros)

Receding Moving Object Segmentation in 3D LiDAR Data Using Sparse 4D Convolutions (RAL 2022)

A LiDAR odometry pipeline for wheeled mobile robots

Bonnet: An Open-Source Training and Deployment Framework for Semantic Segmentation in Robotics.

🎤 Register Any Point: Scaling 3D Point Cloud Registration by Flow Matching [ECCV 26]

Range Image-based LiDAR Localization for Autonomous Vehicles Using Mesh Maps (chen2021icra)

[CVPR'24] Scaling Diffusion Models to Real-World 3D LiDAR Scene Completion

ReFusion: 3D Reconstruction in Dynamic Environments for RGB-D Cameras Exploiting Residuals

chen2020iros: Learning an Overlap-based Observation Model for 3D LiDAR Localization.

📌 PINGS: Gaussian Splatting Meets Distance Fields within a Point-Based Implicit Neural Map [RSS 25]

Bonnet and then some! Deep Learning Framework for various Image Recognition Tasks. Photogrammetry and Robotics Lab, University of Bonn

A LiDAR visualization tool for all your datasets

This is a visual-servoing based robot navigation framework tailored for navigating in row-crop fields. It uses the images from two on-board cameras and exploits the regular crop-row structure...

Building Volumetric Beliefs for Dynamic Environments Exploiting Map-Based Moving Object Segmentation (RAL 2023)

Online Range Image-based Pole Extractor for Long-term LiDAR Localization in Urban Environments

The mission of the project is to build an agricultural robot (AgriBot) from scratch with the aim of serving as a data-recording platform in fields. For further information about the design and...

2DGS-SLAM: Globally Consistent RGB-D SLAM with 2D Gaussian Splatting (TRO 2026)

3D LiDAR Mapping in Dynamic Environments using a 4D Implicit Neural Representation (CVPR 2024)

Self-supervised Point Cloud Prediction Using 3D Spatio-temporal Convolutional Networks

Graph-based image sequences matching for the visual place recognition in changing environments.

LocNDF: Neural Distance Field Mapping for Robot Localization

Make it Dense: Self-Supervised Geometric Scan Completion of Sparse 3D LiDAR Scans in Large Outdoor Environments

IR-MCL: Implicit Representation-Based Online Global Localization https://arxiv.org/abs/2210.03113

Dynamic Visual SLAM using a General 3D Prior (CVPR 2026)

Code for Simple But Effective Redundant Odometry for Autonomous Vehicles

The framework for visual place recognition in changing enviroments. Matches two sequence of images of arbitrary trajectory overlap.

[CVPR'23] TARL: Temporal Consistent 3D LiDAR Representation Learning for Semantic Perception in Autonomous Driving

Automatic Labeling to Generate Training Data for Online LiDAR-based Moving Object Segmentation

Code for Langer et al. "Domain Transfer for Semantic Segmentation of LiDAR Data using Deep Neural Networks", IROS, 2020.

3D Diffusion Semantic Scenes

[CVPR2024] Open-world Semantic Segmentation Including Class Similarity

Motion Based Multi-Sensor Extrinsic Calibration

🫑 Panoptic Mapping with Fruit Completion and Pose Estimation for Horticultural Robots (IROS' 23)

Mask4D: End-to-End Mask-Based 4D Panoptic Segmentation for LiDAR Sequences, RA-L, 2023

[ICRA 2023] Learning-Based Dimensionality Reduction for Computing Compact and Effective Local Feature Descriptors

Mask-Based Panoptic LiDAR Segmentation for Autonomous Driving, RA-L, 2023

ROS1 Wrapper for VDBFusion https://github.com/PRBonn/vdbfusion

Diffusion-based Tree Skeletonization

DCPCR: Deep Compressed Point Cloud Registration in Large-Scale Outdoor Environments

Joint Intrinsic and Extrinsic Calibration of Perception Systems Utilizing a Calibration Environment

Fast Image-Based Geometric Change Detection Given a 3D Model

Contrastive Instance Association for 4D Panoptic Segmentation using Sequences of 3D LiDAR Scans