The Awesome Self-Driving List

Contents

• Contents
• 1. Self-Driving Software
• 2. Planning
• 3. HD Map
  • 3.1. Lanelet2
  • 3.2. OSM
  • 3.3. OpenDrive
  • 3.4. Others
• 4. Semantic
• 5. Calibration
• 6. Detection
• 7. Control
• 8. SLAM
  • 8.1. Lidar-based
  • 8.2. Camera-based
  • 8.3. Lidar-Camera-based
  • 8.4. Odometry
  • 8.5. Registration
  • 8.6. Optimization
  • 8.7. Loop Closing
  • 8.8. Other
• 9. GPS, IMU
• 10. Dataset
• 11. Simulation
• 12. Visualization
• 13. Web
• 14. Study
• 15. Other Tool
• 16. Other Awesome
• 17. For Chinese

1. Self-Driving Software

• 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.

2. Planning

• omg-tools - Optimal Motion Generation-tools: motion planning made easy.
• gbplanner_ros - Graph-based Exploration Planner for Subterranean Environments.
• 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.
• far_planner - Fast, Attemptable Route Planner for Navigation in Known and Unknown Environments
• 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.

3. HD Map

• 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.

3.1. Lanelet2

• 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.

3.2. OSM

• 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.

3.3. OpenDrive

• 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).

3.4. Others

• QGIS - QGIS is a free, open source, cross platform (lin/win/mac) geographical information system (GIS).
• 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.

4. Semantic

• 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.

5. Calibration

• multiple-cameras-and-3D-LiDARs-extrinsic-calibration - This repo contains source code of our paper presented in IROS2021 "Single-Shot is Enough: Panoramic Infrastructure Based Calibration of Multiple Cameras and 3D LiDARs"
• SensorsCalibration - OpenCalib: A Multi-sensor Calibration Toolbox for Autonomous Driving.
• 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.

6. Detection

• MapTR - [ICLR'23 Spotlight] MapTR: Structured Modeling and Learning for Online Vectorized HD Map Construction
• patchwork++ - Patchwork++: Fast and robust ground segmentation method for 3D point cloud. @ IROS'22.
• 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].

7. Control

• 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.

8. SLAM

8.1. Lidar-based

• 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.
• 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.
• 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).
• M-LOAM - Robust Odometry and Mapping for Multi-LiDAR Systems with Online Extrinsic Calibration.

8.2. Camera-based

• 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.

8.3. Lidar-Camera-based

• 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.

8.4. Odometry

• 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.

8.5. Registration

• 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.

8.6. Optimization

• voxgraph - Voxblox-based Pose graph optimization.
• Kimera-RPGO - Robust Pose Graph Optimization.
• MOLA - A Modular Optimization framework for Localization and mapping.

8.7. Loop Closing

• scancontext - Global LiDAR descriptor for place recognition and long-term localization.
• OverlapNet - OverlapNet - Loop Closing for 3D LiDAR-based SLAM (chen2020rss).

8.8. Other

• 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).

9. GPS, IMU

• 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.

10. Dataset

• 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.

11. Simulation

• AWSIM - Open source simulator for self-driving 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.
• LGSVL - A ROS/ROS2 Multi-robot Simulator for Autonomous Vehicles.

12. Visualization

• 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.
• 3D-Detection-Tracking-Viewer - 3D detection and tracking viewer (visualization) for kitti & waymo dataset.
• 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.

13. Web

• 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.

14. Study

• 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.

15. Other Tool

• PoseLib - Minimal solvers for calibrated camera pose estimation
• ros2-for-unity - High-performance ROS2 solution for Unity3D.
• semantic-segmentation-editor - Web labeling tool for bitmap images and point clouds.
• 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.

16. Other Awesome

• /awesome-slam-datasets - A curated list of awesome datasets for SLAM.
• 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).

17. For Chinese

• slam_in_autonomous_driving - 《自动驾驶中的SLAM技术》对应开源代码.
• 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.