Some Stars

⭐ Guohekui的star列表，每小时自动更新 ⭐

Table of Contents

• C++
• Makefile
• Python
• miscellaneous
• Jupyter Notebook
• Java
• HTML
• C

C++

• ori-drs/plane_seg - Plane Segmentation Utilites -

• superxslam/SuperOdom - A highly robust and accurate LiDAR-only, LiDAR-inertial odometry - 3d-reconstruction, lidar-localization, lidar-odometry, resilient-slam, sensor-fusion, uncertianty-estimation,

• dcmlr/groundgrid - Source code for the article "GroundGrid: LiDAR Point Cloud Ground Segmentation and Terrain Estimation" - 3d-lidar, autonomous-car, autonomous-driving, autonomous-vehicles, grid-map, ground-detection, ground-removal, ground-segmentation, lidar, point-cloud, robotics, ros, ros-noetic, terrain-mapping,

• ouguangjun/Leg-KILO - Leg-KILO: Robust Kinematic-Inertial-Lidar Odometry for Dynamic Legged Robots - kinematics, legged-robots, lidar, localization, mapping, multisensor, odometry, slam, stateestimation,

• ZJU-FAST-Lab/seb_naver - SEB-Naver: A SE(2)-based Local Navigation Framework for Car-like Robots on Uneven Terrain -

• IMRL/Night-Voyager - -

• chengwei0427/Adaptive-LIO - [JIOT 2024] Adaptive-LIO: Enhancing Robustness and Precision through Environmental Adaptation in LiDAR Inertial Odometry -

• PRBonn/MapClosures - Effectively Detecting Loop Closures using Point Cloud Density Maps -

• Zhefan-Xu/LV-DOT - LV-DOT: LiDAR-Visual Dynamic Obstacle Detection and Tracking (C++/Python/ROS) - camera, collision-avoidance, lidar, object-detection, object-tracking, perception, robotics, ros,

• kafeiyin00/LiMo-Calib - [IEEE IROS'25] LiMo-Calib: On-Site Fast LiDAR-Motor Calibration for Quadruped Robot-Based Panoramic 3D Sensing System -

• kafeiyin00/UA-MPC - [IEEE RAL'25 & IROS'25] UA-MPC: Uncertainty-Aware Model Predictive Control for Motorized LiDAR Odometry -

• 792864625/AroundViewMonitor-China-Developer - Around View Monitor Algorithm Pipeline -

• IF-A-CAT/LIR-LIVO - LIR-LIVO: A Lightweight,Robust Lidar/Vision/Inertial Odometry with Illumination-Resilient Deep Features -

• KennyWGH/indt_omp - 快速且优雅的 增量式NDT算法（iNDT）开源实现，基于ndt_omp。A fast and elegant implementation of incremental NDT algorithm (iNDT-OMP) based on ndt_omp. - autonomous-driving, ndt, robotics, slam,

• ROBOT-WSC/BEV-LSLAM - 2025 RAL -

• robot-learning-freiburg/CURB-SG - [ICRA2024] Collaborative Dynamic 3D Scene Graphs for Automated Driving - collaborative-slam, lidar-slam, multi-agent-systems, scene-graphs,

• koide3/hdl_graph_slam - 3D LIDAR-based Graph SLAM - hdl-graph-slam, lidar, point-cloud, ros, rslidar, slam, velodyne,

• koide3/glim - GLIM: versatile and extensible point cloud-based 3D localization and mapping framework - 3d, gpu, imu, lidar, localization, mapping, rgb-d, ros, ros2, slam,

• JokerJohn/MS-Mapping - [ICRA@40] MS-Mapping: An Uncertainty-Aware Large-Scale Multi-Session LiDAR Mapping System - gtsam, keyframe, large-scale-mapping, lidar, lidar-mapping, lidar-slam, lifelong-mapping, mapping, multi-session, pose-graph-optimization, uncertainty-estimation, uncertainty-propagation, wasserstein-distance,

• engcang/FAST-LIO-Localization-SC-QN - A Map-based localization implementation combining FAST-LIO2 as an odometry with Quatro + Nano-GICP as a map matching method, and with ScanContext as a loop candidate detection method - lidar, lidar-inertial-odometry, lidar-slam, localization, loop-closure, odometry, slam,

• jaeyoungjo99/ELiMaLoc - EKF-based LiDAR-Inertial Map matching Localization - ekf-localization, imu, inertial-odometry, localization, mapmatching, slam,

• ethz-asl/COIN-LIO - 🪙 COIN-LIO: Complementary Intensity-Augmented LiDAR Inertial Odometry (ICRA 2024) -

• YixFeng/Block-Map-Based-Localization - [ICRA'24] A localization system based on Block Maps (BMs) to reduce the computational load caused by maintaining large-scale maps -

• zm0612/funny_lidar_slam - A real-time multifunctional Lidar SLAM package. -

• i2Nav-WHU/LE-VINS - INS-Centric Visual-Inertial Navigation System With LiDAR Enhancement -

• priseborough/InertialNav - Inertial Navigation Filter -

• leggedrobotics/graph_msf - A graph-based multi-sensor fusion framework. It can be used to fuse various relative or absolute measurments with IMU readings in real-time. - factor-graph, gnss, imu, lidar, localization, sensor-fusion, state-estimation,

• chengyangkj/Ros_Qt5_Gui_App - ROS human computer interface based on Qt5(基于Qt5的ROS人机交软件) -

• url-kaist/TRAVEL - Traversable ground and above-ground object segmentation using graph representation of 3D LiDAR scans -

• HKUST-Aerial-Robotics/G3Reg - A fast and robust global registration library for outdoor LiDAR point clouds. - registration,

• ariarobotics/clipperp - Fast maximal clique finder and robust registration library -

• be2rlab/rvwo - [IROS 23] A Robust Visual-Wheel SLAM System for Mobile Robots in Dynamic Environments -

• hku-mars/btc_descriptor - -

• qdLMF/VINS-Fusion-GPU-BA - A CUDA reimplementation of Bundle Adjustment for VINS-Fusion - bundle-adjustment, cuda, gpu, levenberg-marquardt, non-linear-optimization, slam, state-estimation, vins, vins-fusion, vio, visual-inertial-odometry, visual-slam,

• url-kaist/patchwork-plusplus-ros - ROS & ROS2 Implementation of Patchwork++ - 3d-point-cloud, ground, ground-removal, ground-segmentation, lidar, point-cloud, ros, segmentation,

• HKUST-Aerial-Robotics/Fast-Planner - A Robust and Efficient Trajectory Planner for Quadrotors - aerial-robotics, autonomous-navigation, motion-planning, uav,

• Wallong/VINS-GPS-Wheel - -

• tum-vision/dvo_slam - Dense Visual Odometry and SLAM -

• mpkuse/edge_alignment - Ros package for Edge Alignment with Ceres solver - ceres-solver, visual-odometry,

• sair-lab/AirSLAM - [TRO 2025] AirVO upgrades to AirSLAM - odometry, slam, superglue, superpoint, visual-odometry, visual-slam,

• linyicheng1/LET-NET - LET-NET: A lightweight CNN network for sparse corners extraction and tracking -

Makefile

• jianzhuozhuTHU/putn - -

Python

• PRBonn/kiss-slam - A LiDAR SLAM system that just works - lidar, lidar-slam, mapping, perception, robotics, slam,

• dongjae0107/ELite - [ICRA 2025] ELite: Ephemerality meets LiDAR-based Lifelong Mapping - lifelong-mapping, robotics,

• hovsg/HOV-SG - [RSS2024] Official implementation of "Hierarchical Open-Vocabulary 3D Scene Graphs for Language-Grounded Robot Navigation" - 3d-scene-graph, natural-language-understanding, open-vocabulary, robot-navigation, robot-planning,

• AndyHuang1995/Image-Contrast-Enhancement - Python implementation of "A New Image Contrast Enhancement Algorithm Using Exposure Fusion Framework", CAIP2017 - dynamic-histogram-equalization, histogram-equalization, image-contrast-enhancement, image-enhancement, low-light-image, python,

• abhishek-kumar41/contrast-enhancement-color-images - Contrast enhancement of color images including analysis of different color spaces -

• LimHyungTae/HOV-SG - [RSS2024] Official implementation of "Hierarchical Open-Vocabulary 3D Scene Graphs for Language-Grounded Robot Navigation" -

• mit-acl/roman - [RSS 2025] ROMAN: a view-invariant global localization method that matches objects from different robot views for reliable pose estimation even when a scene is observed from opposite views -

• AmnonDrory/LidarRegistration - Project page for "Stress-Testing Point Cloud Registration on Automotive LiDAR" by Amnon Drory, Shai Avidan and Raja Giryes -

• jiangchaokang/3DSFLabelling - This repository is the latest model version corresponding to the paper 3DSFLabeling: Boosting 3D Scene Flow Estimation by Pseudo Auto Labeling. -

• spla-tam/SplaTAM - SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAM (CVPR 2024) - computer-vision, cvpr2024, gaussian-splatting, robotics, slam,

• commaai/openpilot - openpilot is an operating system for robotics. Currently, it upgrades the driver assistance system on 300+ supported cars. - advanced-driver-assistance-systems, driver-assistance-systems, robotics,

• ybarancan/TopologicalLaneGraph - Official implementation of "Topology Preserving Local Road Network Estimation from Single Onboard Camera Image" (CVPR 22) -

• ybarancan/STSU - Official code for "Structured Bird’s-Eye-View Traffic Scene Understanding from Onboard Images" (ICCV 2021) -

• hustvl/VMA - A general map auto annotation framework based on MapTR, with high flexibility in terms of spatial scale and element type -

• cvg/limap - A toolbox for mapping and localization with line features. - 3d-reconstruction, bundle-adjustment, line-detection, line-mapping, line-matchng, multi-view-geometry, vanishing-points, visual-localization,

• er-muyue/BeMapNet - -

• yuantianyuan01/StreamMapNet - -

• hustvl/MapTR - [ICLR'23 Spotlight & ECCV'24 & IJCV'24] MapTR: Structured Modeling and Learning for Online Vectorized HD Map Construction - autonomous-driving, bev, end-to-end, iclr2023, online-hdmap-construction, real-time, shape-representation, transformer, vectorized-hdmap,

• manymuch/CAMA - Official Implementation of A Vision-Centric Approach for Static Map Element Annotation -

• manymuch/ground_normal_filter - Official implementation of: Towards Accurate Ground Plane Normal Estimation from Ego-Motion -

miscellaneous

• IRMVLab/CrossBEV-PR - Code for paper "CrossBEV-PR：Cross-modal Visual-LiDAR Place Recognization via BEV Feature Distillation" -

• MIT-SPARK/Kimera-Multi-Data - A large-scale multi-robot dataset for multi-robot SLAM -

• qxiaofan/awesome-slam-datasets - SLAM常见数据集汇总 -

• hwan0806/Awesome-LiDAR-Mapping - Collection of Papers with Codes: LiDAR Odometry/SLAM, Dynamic Object Removal, and Multiple Map Merging -

• Kedreamix/Awesome-Talking-Head-Synthesis - 💬 An extensive collection of exceptional resources dedicated to the captivating world of talking face synthesis! ⭐ If you find this repo useful, please give it a star! 🤩 - arxiv, audio-driven, paper, synthesis, talking-face-generation, talking-head, talking-head-video-generation,

• jinyummiao/map-in-mono-reloc - a paper list of visual re-localization algorithms -

• Gatsby23/vins-wheels - VIO system incorporating wheel encoders -

Jupyter Notebook

• KTH-RPL/DynamicMap_Benchmark - The First Dynamic Map Removal Benchmark | Included 8 SOTA methods | Continous updating - autonomous-driving, benchmark, dataset, dynamic-point-removal, mapping, robotics,

Java

• GrowingGit/GitHub-Chinese-Top-Charts - 🇨🇳 GitHub中文排行榜，各语言分设「软件 | 资料」榜单，精准定位中文好项目。各取所需，高效学习。 -

HTML

• MrNeRF/awesome-3D-gaussian-splatting - Curated list of papers and resources focused on 3D Gaussian Splatting, intended to keep pace with the anticipated surge of research in the coming months. - 3d-gaussian-splatting, 3dgs, gaussian-splatting, nerf, neural-rendering,

C

• xuankuzcr/LIV_handhold - Hardware-synchronized device for FAST-LIVO (Handheld & UAV). -