Awesome-LiDAR-Mapping

This repository is a collection of paper with open-sourced codes for LiDAR-based mapping methods. It includes LiDAR-based odometry, dynamic object removal, and multiple map merging frameworks, which is essential for long-term robotic autonomy.
If you find any work missing or misclassified, feel free to send me suggestions or updates via pull request or issues!

Thanks to the authors of the LiDAR Odometry Survey and Awesome LiDAR Place Recognition for inspiring this work.

News

• 24.07.07 : Update 6 papers (SR-LIO, PIN-SLAM, I2EKF-LIO, FMCW-LIO, Dyna-LO, SeFlow)
• 24.06.05 : Add DLC-SLAM via PR
• 24.06.03 : First public commit
  
  

Table of Contents

• LiDAR Mapping
  • LiDAR Only
  • LiDAR-Inertial
  • Multiple LiDARs
  • Learning-based Mapping
• Static Mapping
  • Algorithm-based Removal
  • Learning-based Segmentation
• Multiple Map Merging
• Useful repository
  • LiDAR Odometry
  • SLAM Framework (Odometry+PGO)
  • Evaluation
• Related Awesome
• Contact
  
  

LiDAR Mapping

LiDAR Only

Year	Venue	Paper Title	Repository
14	RSS	LOAM: Lidar odometry and mapping in real-time
18	RSS	Efficient Surfel-Based SLAM using 3D Laser Range Data in Urban Environments
18	IROS	LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain
19	IJARS	A Portable 3D LIDAR-based System for Long-term and Wide-area People Behavior Measurement
19	RSS	A Modular Optimization Framework for Localization and Mapping
20	ICRA	Loam livox: A fast, robust, high-precision LiDAR odometry and mapping package for LiDARs of small FoV
20	ICRA	LOL: Lidar-only Odometry and Localization in 3D point cloud maps
21	ICRA	MULLS: Versatile LiDAR SLAM via Multi-metric Linear Least Square
21	IROS	F-LOAM : Fast LiDAR Odometry and Mapping
21	TGMS	T-LOAM: Truncated Least Squares Lidar-only Odometry and Mapping in Real-Time
21	RAL	Interactive 3D Graph SLAM for Map Correction
22	ICRA	CT-ICP: Real-time Elastic LiDAR Odometry with Loop Closure
22	RAL	Direct LiDAR Odometry: Fast Localization with Dense Point Clouds
22	RAL	LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time 3D Mapping
22	RAL	Efficient and Probabilistic Adaptive Voxel Mapping for Accurate Online LiDAR Odometry
23	ICRA	Real-Time Simultaneous Localization and Mapping with LiDAR intensity
23	IROS	ECTLO: Effective Continuous-Time Odometry Using Range Image for LiDAR with Small FoV
23	RAL	KISS-ICP: In Defense of Point-to-Point ICP – Simple, Accurate, and Robust Registration If Done the Right Way
23	ICRA	SLAMesh: Real-time LiDAR Simultaneous Localization and Meshing
23	RAL	HBA: A Globally Consistent and Efficient Large-Scale LiDAR Mapping Module
23	TIV	Dynamic Object-aware LiDAR Odometry Aided by Joint Weightings Estimation in Urban Areas
21, 23	RAL, TRO	BALM: Bundle Adjustment for Lidar Mapping, Efficient and Consistent Bundle Adjustment on Lidar Point Clouds
24	RAL	Light-LOAM: A Lightweight LiDAR Odometry and Mapping based on Graph-Matching
24	RAL	Traj-LO: In Defense of LiDAR-Only Odometry Using an Effective Continuous-Time Trajectory
24	RAL	MAD-ICP: It Is All About Matching Data – Robust and Informed LiDAR Odometry

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LiDAR-Inertial

Year	Venue	Paper Title	Repository
19	ICRA	A Tightly Coupled 3D Lidar and Inertial Odometry and Mapping Approach
20	ICRA	LINS: A Lidar-Inertial State Estimator for Robust and Efficient Navigation
20	IROS	LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping
21	ICRA	Poisson Surface Reconstruction for LiDAR Odometry and Mapping
21	IROS	CLINS : Continuous-Time Trajectory Estimation for LiDAR-Inertial System
21	RAL	Towards High-Performance Solid-State-LiDAR-Inertial Odometry and Mapping
21, 22	RAL, TRO	FAST-LIO: A Fast, Robust LiDAR-inertial Odometry Package by Tightly-Coupled Iterated Kalman Filter, FAST-LIO2: Fast Direct LiDAR-Inertial Odometry
22	RAL	Faster-LIO: Lightweight Tightly Coupled Lidar-Inertial Odometry Using Parallel Sparse Incremental Voxels
23	ICRA	Direct LiDAR-Inertial Odometry: Lightweight LIO with Continuous-Time Motion Correction
23	ICRA	Asynchronous State Estimation of Simultaneous Ego-motion Estimation and Multiple Object Tracking for LiDAR-Inertial Odometry
23	IROS	LIO-PPF: Fast LiDAR-Inertial Odometry via Incremental Plane Pre-Fitting and Skeleton Tracking
23	RAL	FF-LINS: A Consistent Frame-to-Frame Solid-State-LiDAR-Inertial State Estimator
23	RAL	LOG-LIO: A LiDAR-Inertial Odometry with Efficient Local Geometric Information Estimation
23	RAL	RI-LIO: Reflectivity Image Assisted Tightly-Coupled LiDAR-Inertial Odometry
23	RAL	Voxelmap++: Mergeable Voxel Mapping Method for Online LiDAR(-inertial) Odometry
23	RAL	S-Graphs+: Real-time Localization and Mapping leveraging Hierarchical Representations
23	AIS	Point‐LIO: Robust High‐Bandwidth Light Detection and Ranging Inertial Odometry
24	ICRA	COIN-LIO: Complementary Intensity-Augmented LiDAR Inertial Odometry
24	ICRA	LIO-EKF: High Frequency LiDAR-Inertial Odometry using Extended Kalman Filters
24	ICRA	DMSA - Dense Multi Scan Adjustment for LiDAR Inertial Odometry and Global Optimization
24	IROS	SR-LIO: LiDAR-Inertial Odometry with Sweep Reconstruction
24	IROS	I2EKF-LO: A Dual-Iteration Extended Kalman Filter Based LiDAR Odometry
24	RAL	iG-LIO: An Incremental GICP-based Tightly-coupled LiDAR-inertial Odometry
24	RAL	LIO-GVM: an Accurate, Tightly-Coupled Lidar-Inertial Odometry with Gaussian Voxel Map
24	RAL	LIMOT: A Tightly-Coupled System for LiDAR-Inertial Odometry and Multi-Object Tracking
24	RAL	FMCW-LIO: A Doppler LiDAR-Inertial Odometry
24	arXiv	NV-LIO: LiDAR-Inertial Odometry using Normal Vectors Towards Robust SLAM in Multifloor Environments
24	arXiv	LOG-LIO2: A LiDAR-Inertial Odometry with Efficient Uncertainty Analysis

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Multiple LiDARs

Year	Venue	Paper Title	Repository
20	IROS	A decentralized framework for simultaneous calibration, localization and mapping with multiple LiDARs
21	TRO	Robust Odometry and Mapping for Multi-LiDAR Systems with Online Extrinsic Calibration
23	RAL	Asynchronous Multiple LiDAR-Inertial Odometry using Point-wise Inter-LiDAR Uncertainty Propagation
23	RAL	SLICT: Multi-Input Multi-Scale Surfel-Based Lidar-Inertial Continuous-Time Odometry and Mapping
23	arXiv	Robust Multi-Modal Multi-LiDAR-Inertial Odometry and Mapping for Indoor Environments

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Learning-based Mapping

Year	Venue	Paper Title	Repository
21	CVPR	PWCLO-Net: Deep LiDAR Odometry in 3D Point Clouds Using Hierarchical Embedding Mask Optimization
21	ISPRS	DEEPLIO: DEEP LIDAR INERTIAL SENSOR FUSION FOR ODOMETRY ESTIMATION
22	TPAMI	Efficient 3D Deep LiDAR Odometry
23	ICRA	SHINE-Mapping: Large-Scale 3D Mapping Using Sparse Hierarchical Implicit NEural Representations
23	RAL	LONER: LiDAR Only Neural Representations for Real-Time SLAM
23	ICCV	NeRF-LOAM: Neural Implicit Representation for Large-Scale Incremental LiDAR Odometry and Mapping
23	TIV	HPPLO-Net: Unsupervised LiDAR Odometry Using a Hierarchical Point-to-Plane Solver
24	ICRA	Towards Large-Scale Incremental Dense Mapping using Robot-centric Implicit Neural Representation
24	CVPR	3D LiDAR Mapping in Dynamic Environments using a 4D Implicit Neural Representation
24	AAAI	DeepPointMap: Advancing LiDAR SLAM with Unified Neural Descriptors
24	TRO	PIN-SLAM: LiDAR SLAM Using a Point-Based Implicit Neural Representation for Achieving Global Map Consistency
24	arXiv	N3-Mapping: Normal Guided Neural Non-Projective Signed Distance Fields for Large-scale 3D Mapping

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Static Mapping

Algorithm-based Removal

Year	Venue	Paper Title	Repository
20	IROS	Remove, then Revert: Static Point cloud Map Construction using Multiresolution Range Images
21	RAL	ERASOR: Egocentric Ratio of Pseudo Occupancy-Based Dynamic Object Removal for Static 3D Point Cloud Map Building
23	RAL	Dynablox: Real-time Detection of Diverse Dynamic Objects in Complex Environments
23	RSS	ERASOR2: Instance-Aware Robust 3D Mappingof the Static World in Dynamic Scenes
24	CVPR	ICP-Flow: LiDAR Scene Flow Estimation with ICP
24	RAL	RH-Map: Online Map Construction Framework of Dynamic Objects Removal Based on Region-wise Hash Map Structure
24	RAL	DUFOMap: Efficient Dynamic Awareness Mapping
24	RAL	BeautyMap: Binary-Encoded Adaptable Ground Matrix for Dynamic Points Removal in Global Maps
24	Nature Com	Moving event detection from LiDAR point streams

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Learning-based Segmentation

Year	Venue	Paper Title	Repository
21	RAL	Moving Object Segmentation in 3D LiDAR Data: A Learning-based Approach Exploiting Sequential Data
22	RAL	Receding Moving Object Segmentation in 3D LiDAR Data Using Sparse 4D Convolutions
22	IROS	Efficient Spatial-Temporal Information Fusion for LiDAR-Based 3D Moving Object Segmentation
23	IROS	InsMOS: Instance-Aware Moving Object Segmentation in LiDAR Data
23	RAL	MotionBEV: Online LiDAR Moving Object segmentation with Bird's eye view based Appearance and Motion Features
23	RAL	Building Volumetric Beliefs for Dynamic Environments Exploiting Map-Based Moving Object Segmentation
24	ICRA	MF-MOS: A Motion-Focused Model for Moving Object Segmentation
24	ICRA	DeFlow: Decoder of Scene Flow Network in Autonomous Driving
24	ECCV	SeFlow: A Self-Supervised Scene Flow Method in Autonomous Driving

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Multiple Map Merging

Year	Venue	Paper Title	Repository
20, 22	ICRA	LAMP: Large-scale autonomous mapping and positioning for exploration of perceptually-degraded subterranean environments LAMP 2.0: A robust multi-robot SLAM system for operation in challenging large-scale underground environments
21	RAL	Ground and Aerial Collaborative Mapping in Urban Environments
22	ICRA	LT-mapper: A Modular Framework for LiDAR-based Lifelong Mapping
22	RAL	DiSCo-SLAM: Distributed Scan Context-Enabled Multi-Robot LiDAR SLAM With Two-Stage Global-Local Graph Optimization
23	ICRA	Swarm-lio: Decentralized swarm lidar-inertial odometry
23	Sensors	DCL-SLAM: A Distributed Collaborative LiDAR SLAM Framework for a Robotic Swarm
24	ICRA	CoLRIO: LiDAR-Ranging-Inertial Centralized State Estimation for Robotic Swarms
24	RAL	Swarm-SLAM: Sparse Decentralized Collaborative Simultaneous Localization and Mapping Framework for Multi-Robot Systems
24	JFR	LTA-OM: Long-Term Association LiDAR-Inertial Odometry and Mapping

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Useful repository

LiDAR Odometry

Summary	Repository
LIO_SAM_6axis: Support 6-axis IMU and low-cost GNSS
LIORF: Remove feature extraction module of LIO-SAM
LIO-SAM-MID360: Support MID360 LiDAR
S_FAST_LIO: Simplified Implementation of FAST_LIO2
FAST_LIO_ROS2: ROS2 version of Fast-LIO2
Multi_FastLio: Multiple LiDAR version of Fast-LIO2 with PTP Time Sync

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SLAM Framework (Odometry+PGO)

Summary	Repository
Odometry(A-LOAM, LIO-SAM, Fast-LIO) + PGO module(Scan Context)
FAST-LIO-SAM:Fast-LIO2 + LIO-SAM
FAST-LIO-SAM-QN: FAST-LIO-SAM + Quatro + Nano-GICP
FAST-LIO-SAM-SC-QN: FAST-LIO-SAM-QN + Scan Context
Faster_LIO_SAM: Faster-Lio + Lio-SAM
IG-LIO + LIO-SAM
DLC-SLAM: LIO-SAM + DLC-NET
LeGO-LOAM + BoW3D

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Evaluation

Summary	Repository
evo: Python package for the evaluation of odometry and SLAM
DynamicMap_Benchmark
Cloud Map Evaluation

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Related Awesome

• Awesome LiDAR
• Awesome 3D LiDAR Datasets
• Awesome LiDAR Place Recognition
• Awesome Pointcloud Scene Flow
• Awesome Pointclouds Registration
• Awesome Implicit NeRF SLAM

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Contact

Gilhwan Kang : [email protected]

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