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Point cloud

A point cloud is a set of data points in space. The points represent a 3D shape or object. Each point has its set of X, Y and Z coordinates.

https://github.com/yzrobot/adaptive_clustering

[ROS package] Lightweight and Accurate Point Cloud Clustering

clustering point-cloud point-cloud-segmentation ros velodyne

Last synced: 27 Oct 2024

https://github.com/dvlab-research/Stratified-Transformer

Stratified Transformer for 3D Point Cloud Segmentation (CVPR 2022)

cvpr2022 point-cloud semantic-segmentation transformer

Last synced: 28 Oct 2024

https://github.com/UMich-BipedLab/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. This package is used for Cassie Blue's 3D LiDAR semantic mapping and automation.

3d-lidar calibration calibration-toolbox camera-calibration camera-image camera-targets cassie cassie-ros extrinsic-calibration extrinsic-parameters lidar lidar-image lidar-points lidar-targets lidar-vertices point-cloud robotics sensor-fusion transformation

Last synced: 03 Aug 2024

https://github.com/mikacuy/pointnetvlad

PointNetVLAD: Deep Point Cloud Based Retrieval for Large-Scale Place Recognition, CVPR 2018

computer-vision deep-learning place-recognition point-cloud

Last synced: 28 Oct 2024

https://github.com/thangvubk/SoftGroup

[CVPR 2022 Oral] SoftGroup for Instance Segmentation on 3D Point Clouds

3d-instance-segmentation 3d-object-detection panoptic-segmentation point-cloud s3dis scannet semantic-kitti

Last synced: 28 Oct 2024

https://github.com/Pointcept/PointTransformerV2

[NeurIPS'22] An official PyTorch implementation of PTv2.

3d-vision point-cloud pytorch

Last synced: 28 Oct 2024

https://github.com/STORM-IRIT/OpenGR

OpenGR: A C++ library for 3D Global Registration

point-cloud point-cloud-registration

Last synced: 02 Nov 2024

https://github.com/lijx10/SO-Net

SO-Net: Self-Organizing Network for Point Cloud Analysis, CVPR2018

3d autonomous-driving computer-vision cvpr deep-learning point-cloud

Last synced: 28 Oct 2024

https://github.com/hancyran/RepSurf

[CVPR 2022 Oral] Official implementation for "Surface Representation for Point Clouds"

cvpr2022 modelnet40 point-cloud pytorch s3dis scannet scanobjectnn sunrgbd

Last synced: 28 Oct 2024

https://github.com/alievk/npbg

Neural Point-Based Graphics

neural-rendering point-cloud

Last synced: 26 Oct 2024

https://github.com/JeremyBYU/polylidar

Polylidar3D - Fast polygon extraction from 3D Data

concave concave-hull geometry mesh point-cloud pointcloud polygon

Last synced: 27 Oct 2024

https://github.com/maudzung/YOLO3D-YOLOv4-PyTorch

YOLO3D: End-to-end real-time 3D Oriented Object Bounding Box Detection from LiDAR Point Cloud (ECCV 2018)

3d-object-detection darknet distributed-training object-detection point-cloud real-time rotated-boxes-iou yolo3d yolov4

Last synced: 28 Oct 2024

https://github.com/jkk-research/urban_road_filter

Real-time LIDAR-based Urban Road and Sidewalk detection for Autonomous Vehicles 🚗

autonomous-driving filter lidar lidar-filter point-cloud road-segmentation ros self-driving-car shell-eco-marathon sze szenergy

Last synced: 27 Oct 2024

https://github.com/koide3/iridescence

3D visualization library for rapid prototyping of 3D algorithms

imgui localization mapping opengl point-cloud slam visualization

Last synced: 30 Oct 2024

https://github.com/Haiyang-W/UniTR

[ICCV2023] Official Implementation of "UniTR: A Unified and Efficient Multi-Modal Transformer for Bird’s-Eye-View Representation"

3d 3d-object-detection 3d-segmentation backbone bev camera computer-vision iccv2023 lidar multi-modal multi-view point-cloud transformer unified

Last synced: 28 Oct 2024

https://github.com/PRBonn/4DMOS

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

4d deep-learning lidar minkowski minkowskiengine mos moving object point-cloud point-cloud-processing segmentation

Last synced: 28 Oct 2024

https://github.com/NVlabs/splatnet

SPLATNet: Sparse Lattice Networks for Point Cloud Processing (CVPR2018)

3d cvpr2018 deep-learning joint-2d-3d point-cloud

Last synced: 28 Oct 2024

https://github.com/POSTECH-CVLab/FastPointTransformer

Official source code of Fast Point Transformer, CVPR 2022

3d-vision computer-vision cvpr2022 point-cloud transformer

Last synced: 28 Oct 2024

https://github.com/yanx27/PointASNL

PointASNL: Robust Point Clouds Processing using Nonlocal Neural Networks with Adaptive Sampling （CVPR 2020）

classification modelnet-dataset point-cloud sample scannet-dataset segmentation self-driving semantickitti tensorflow

Last synced: 28 Oct 2024

https://github.com/rvp-group/mad-icp

Minimal, robust, accurate and real-time LiDAR odometry

icp lidar odometry point-cloud

Last synced: 27 Oct 2024

https://github.com/wxinlong/asis

Associatively Segmenting Instances and Semantics in Point Clouds, CVPR 2019

deep-learning instance-segmentation point-cloud semantic-segmentation

Last synced: 14 Oct 2024

https://github.com/Gorilla-Lab-SCUT/frustum-convnet

The PyTorch Implementation of F-ConvNet for 3D Object Detection

3d-object-detection deep-learning point-cloud

Last synced: 28 Oct 2024

https://github.com/c42f/displaz

A hackable lidar viewer

geospatial lidar point-cloud

Last synced: 01 Nov 2024

https://github.com/yanx27/3DGNN_pytorch

3D Graph Neural Networks for RGBD Semantic Segmentation

gnns point-cloud pytorch rgbd segmentation

Last synced: 28 Oct 2024

https://github.com/MohamedAfham/CrossPoint

Official implementation of "CrossPoint: Self-Supervised Cross-Modal Contrastive Learning for 3D Point Cloud Understanding" (CVPR, 2022)

3d-point-clouds cross-modal-learning deep-learning few-shot-learning object-classification point-cloud self-supervised-learning transfer-learning unsupervised-learning

Last synced: 28 Oct 2024

https://github.com/MCG-NJU/CamLiFlow

[CVPR 2022 Oral & TPAMI 2023] Learning Optical Flow and Scene Flow with Bidirectional Camera-LiDAR Fusion

cvpr2022 multimodal optical-flow point-cloud scene-flow

Last synced: 28 Oct 2024

https://github.com/driving-behavior/DBNet

DBNet: A Large-Scale Dataset for Driving Behavior Learning, CVPR 2018

autonomous-driving benchmark cvpr2018 dbnet driving-behavior point-cloud steering-wheel vehicle-speed

Last synced: 07 Aug 2024

https://github.com/yanx27/JS3C-Net

Sparse Single Sweep LiDAR Point Cloud Segmentation via Learning Contextual Shape Priors from Scene Completion (AAAI 2021)

auto-drive completion lidar-point-cloud lidar-segmentation point-cloud segmentation semantic-scene-completion semantickitti semanticposs

Last synced: 27 Oct 2024

https://github.com/lijx10/DeepI2P

DeepI2P: Image-to-Point Cloud Registration via Deep Classification. CVPR 2021

3d-vision cnn computer-vision deep-learning image-processing localization neural-network point-cloud registration

Last synced: 27 Oct 2024

https://github.com/koide3/gtsam_points

A collection of GTSAM factors and optimizers for point cloud SLAM

bundle-adjustment continuous-time cuda factor-graph gpu gtsam kdtree localization mapping point-cloud registration slam voxelmap

Last synced: 30 Oct 2024

https://github.com/qcraftai/pillarnext

PillarNeXt: Rethinking Network Designs for 3D Object Detection in LiDAR Point Clouds (CVPR 2023)

3d-object-detection autonomous-driving lidar nuscenes perception point-cloud self-driving waymo-open-dataset

Last synced: 28 Oct 2024

https://github.com/pqhieu/jsis3d

[CVPR'19] JSIS3D: Joint Semantic-Instance Segmentation of 3D Point Clouds

cvpr deep-learning instance-segmentation point-cloud pytorch

Last synced: 28 Oct 2024

https://github.com/orendv/learning_to_sample

A learned sampling approach for point clouds (CVPR 2019)

cvpr2019 deep-learning geometry-processing neural-network point-cloud sampling tensorflow

Last synced: 28 Oct 2024

https://github.com/tiangexiang/CurveNet

[ICCV 2021] Walk in the Cloud: Learning Curves for Point Clouds Shape Analysis

3d-vision iccv iccv2021 point-cloud point-cloud-processing

Last synced: 28 Oct 2024

https://github.com/tum-gis/cesium-point-cloud-generator

A small Java-based tool for the generation of point cloud visualization datasets according to Cesium 3D Tiles.

cesium cesium-3dtiles point-cloud visualization

Last synced: 02 Aug 2024

https://github.com/AutoVision-cloud/SA-Det3D

[ICCVW-2021] SA-Det3D: Self-attention based Context-Aware 3D Object Detection

3d-deep-learning 3d-detection autonomous-driving object-detection point-cloud pytorch

Last synced: 28 Oct 2024

https://github.com/yanx27/GACNet

Pytorch implementation of 'Graph Attention Convolution for Point Cloud Segmentation'

gacnet point-cloud s3dis segmentation

Last synced: 28 Oct 2024

https://github.com/LMD0311/DAPT

[CVPR 2024] Dynamic Adapter Meets Prompt Tuning: Parameter-Efficient Transfer Learning for Point Cloud Analysis

3d-point-clouds cvpr2024 efficient-deep-learning point-cloud

Last synced: 28 Oct 2024

https://github.com/KennyWGH/efficient_online_segmentation

Efficient Online Segmentation of Ground&Wall Points for Multi-line Spinning LiDARs. //在线分割激光点云中的地面点和墙面点。

cloud-segmentation ground-segmentation point-cloud

Last synced: 27 Oct 2024

https://github.com/JokerJohn/Cloud_Map_Evaluation

Point cloud map evaluation library for the FusionPortable dataset. Metrics include Mean Map Entropy (MME), RMSE, Accuracy(mean error), Precision(standard deviation), completeness(overlap ratio), chamfer distance and F1-score at all levels of 1/2/5/10/20cm.

map-evaluation open3d point-cloud pointcloud-registration

Last synced: 01 Aug 2024

https://github.com/JuanDuGit/DH3D

DH3D: Deep Hierarchical 3D Descriptors for Robust Large-Scale 6DOF Relocalization

autonomous-driving deep-learning feature-learning point-cloud relocalization

Last synced: 03 Aug 2024

https://github.com/princeton-vl/SimpleView

Official Code for ICML 2021 paper "Revisiting Point Cloud Shape Classification with a Simple and Effective Baseline"

3d-vision dgcnn icml-2021 modelnet-dataset modelnet40 point-cloud point-cloud-classification point-cloud-processing pointnet pointnet2 rscnn scanobjectnn simpleview sota

Last synced: 28 Oct 2024

https://github.com/Amsterdam-AI-Team/Urban_PointCloud_Processing

Repository for automatic classification and labeling of Urban PointClouds using data fusion and region growing techniques.

2d-data 3d-data classification data-fusion gis labelling lidar-point-cloud point-cloud segmentation semantic-segmentation topographic-maps

Last synced: 28 Oct 2024

https://github.com/Na-Z/attMPTI

[CVPR 2021] Few-shot 3D Point Cloud Semantic Segmentation

3d 3d-segmentation few-shot-learning point-cloud pytorch

Last synced: 28 Oct 2024

https://github.com/PRBonn/MapMOS

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

cloud deep-learning map minkowski-engine minkowskiengine mos moving object point point-cloud segmentation static

Last synced: 02 Oct 2024

https://github.com/MorcilloSanz/RendererGL

Cross platform 3D renderer in C++ and OpenGL with lighting, shadows and materials.

computer-graphics graphics-engine graphics-programming hdri opengl pbr pbr-materials pbr-shading point-cloud renderer viewer

Last synced: 04 Aug 2024

https://github.com/rubenwiersma/deltaconv

Code for the SIGGRAPH 2022 paper "DeltaConv: Anisotropic Operators for Geometric Deep Learning on Point Clouds."

differential-geometry geometric-deep-learning graph-learning point-cloud point-cloud-classification point-cloud-segmentation pytorch

Last synced: 11 Oct 2024

https://github.com/mbanani/unsupervisedrr

[CVPR 2021 - Oral] UnsupervisedR&R: Unsupervised Point Cloud Registration via Differentiable Rendering

3d-vision alignment differentiable-rendering point-cloud registration

Last synced: 03 Aug 2024

https://github.com/lyqun/FPConv

CVPR 2020, "FPConv: Learning Local Flattening for Point Convolution"

3d-convolutions 3d-vision cvpr2020 point-cloud point-convolution pytorch s3dis scannet scene-understanding semantic-segmentation

Last synced: 28 Oct 2024

https://github.com/hkust-vgd/pointwise

Code for Pointwise Convolutional Neural Networks, CVPR 2018

deep-learning deep-neural-networks point-cloud

Last synced: 28 Oct 2024

https://github.com/HpWang-whu/YOHO

[ACM MM 2022] You Only Hypothesize Once: Point Cloud Registration with Rotation-equivariant Descriptors

point-cloud registration

Last synced: 28 Oct 2024

https://github.com/ispc-lab/LiDAR4D

💫 [CVPR 2024] LiDAR4D: Dynamic Neural Fields for Novel Space-time View LiDAR Synthesis

autonomous-driving computer-vision cvpr2024 dynamic-scene lidar neural-rendering novel-view-synthesis point-cloud reconstruction

Last synced: 28 Oct 2024

https://github.com/Jasonkks/PTTR

Pytorch Implementation of PTTR: Relational 3D Point Cloud Object Tracking with Transformer

autonomous-driving point-cloud pytorch tracking

Last synced: 28 Oct 2024

https://github.com/xiaoaoran/SynLiDAR

SynLiDAR: Synthetic LiDAR sequential point cloud dataset with point-wise annotations (AAAI2022)

dataset domain-adaptation point-cloud semantic-segmentation

Last synced: 28 Oct 2024

https://github.com/wzzheng/PointOcc

Efficient Point-based 3D Semantic Occupancy Prediction

autonoumous-driving occupancy-prediction point-cloud

Last synced: 28 Oct 2024

https://github.com/thu-ml/3D_Corruptions_AD

Benchmarking Robustness of 3D Object Detection to Common Corruptions in Autonomous Driving, CVPR 2023

autonomous-vehicles cvpr2023 point-cloud self-driving-car

Last synced: 28 Oct 2024

https://github.com/chrise96/3D_Ground_Segmentation

A ground segmentation algorithm for 3D point clouds based on the work described in “Fast segmentation of 3D point clouds: a paradigm on LIDAR data for Autonomous Vehicle Applications”, D. Zermas, I. Izzat and N. Papanikolopoulos, 2017. Distinguish between road and non-road points. Road surface extraction. Plane fit ground filter

cpp extraction ground ground-segmentation lastools lidar non-ground point-cloud preprocessing road-surface

Last synced: 27 Oct 2024

https://github.com/XuyangBai/PPF-FoldNet

PyTorch reimplementation for "PPF-FoldNet: Unsupervised Learning of Rotation Invariant 3D Local Descriptors" https://arxiv.org/abs/1808.10322

point-cloud ppf-foldnet ppfnet pytorch registration

Last synced: 28 Oct 2024

https://github.com/Gorilla-Lab-SCUT/SSTNet

Instance Segmentation in 3D Scenes using Semantic Superpoint Tree Networks

3d deep-learning instance-segmentation point-cloud superpoint

Last synced: 28 Oct 2024

https://github.com/luost26/dmrdenoise

:snowman: Differentiable Manifold Reconstruction for Point Cloud Denoising (ACM MM 2020)

acm-mm acm-mm-2020 denoising denoising-network point-cloud

Last synced: 09 Oct 2024

https://github.com/ajhamdi/MVTN

pytorch implementation of the ICCV'21 paper "MVTN: Multi-View Transformation Network for 3D Shape Recognition"

3d 3d-models classification deep-learning iccv2021 point-cloud pytorch

Last synced: 28 Oct 2024

https://github.com/rayguan97/M3DETR

Code base for M3DeTR: Multi-representation, Multi-scale, Mutual-relation 3D Object Detection with Transformers

3d-object-detection deep-learning kitti-dataset object-detection point-cloud transformer waymo-open-dataset

Last synced: 28 Oct 2024

https://github.com/dgriffiths3/pointnet2-tensorflow2

Pointnet++ modules implemented as tensorflow 2 keras layers.

classification deep-learning point-cloud pointnet pointnet2 segmentation tensorflow tensorflow2

Last synced: 27 Oct 2024

https://github.com/blakechen97/SASA

SASA: Semantics-Augmented Set Abstraction for Point-based 3D Object Detection

3d-object-detection point-cloud pytorch-implementation

Last synced: 28 Oct 2024

https://github.com/JunweiZheng93/APES

Official repository for paper "Attention-based Point Cloud Edge Sampling" (APES), Highlight@CVPR 2023

attention-based downsampling edge-points point-cloud

Last synced: 28 Oct 2024

https://github.com/HaochengWan/PVT

PVT: Point-Voxel Transformer for 3D Deep Learning

kitti modelnet40 point-cloud point-cloud-processing pvt pytorch s3dis shapenet sota

Last synced: 28 Oct 2024

https://github.com/shanjiayao/PTT

Official PyTorch Implementation for "PTT: Point-Track-Transformer Module for 3D Single Object Trackingin Point Clouds"

deep-learning point-cloud sot tracking

Last synced: 28 Oct 2024

https://github.com/l1997i/LiM3D

🔥(CVPR 2023) Less is More: Reducing Task and Model Complexity for 3D Point Cloud Semantic Segmentation

complexity computer-vision cvpr cvpr2023 deep-learning lidar point-cloud semantic-segmentation

Last synced: 28 Oct 2024

https://github.com/Suoivy/LPD-net

LPD-Net: 3D Point Cloud Learning for Large-Scale Place Recognition and Environment Analysis, ICCV 2019, Seoul, Korea

computer-vision deep-learning place-recognition point-cloud

Last synced: 28 Oct 2024

https://github.com/MCG-NJU/LinK

[CVPR 2023] LinK: Linear Kernel for LiDAR-based 3D Perception

autonomous-driving detection large-kernels nuscenes point-cloud segmentation semantickitti

Last synced: 28 Oct 2024

https://github.com/anshulpaigwar/Attentional-PointNet

Attentional-PointNet is Deep-Neural-Network architecture for 3D object detection in point clouds

3d-object-detection attention-mechanism autonomous-vehicles object-detection point-cloud pointnet pytorch pytorch-implmention

Last synced: 28 Oct 2024

https://github.com/leonardodalinky/fpsample

Python efficient farthest point sampling (FPS) library. Compatible with numpy.

farthest-point-sampling point-cloud python

Last synced: 30 Oct 2024

https://github.com/qcraftai/distill-bev

DistillBEV: Boosting Multi-Camera 3D Object Detection with Cross-Modal Knowledge Distillation (ICCV 2023)

3d-object-detection autonomous-driving bev cross-modal distillation knowledge-distillation lidar multi-camera multi-modal nuscenes point-cloud self-driving

Last synced: 28 Oct 2024

https://github.com/cgtuebingen/pointcloud-viewer

Efficient Large-Scale Point-Cloud Viewer based on OpenGL

gles glut large-scale opengl point-cloud qt scientific-visualization viewer visualization

Last synced: 27 Oct 2024

https://github.com/kabouzeid/point2vec

Self-Supervised Representation Learning on Point Clouds (GCPR 2023 | T4V Workshop @ CVPR 2023)

lightning machine-learning point-cloud pytorch self-supervised-learning transformer vision vision-transformer

Last synced: 27 Oct 2024

https://github.com/mac137/ConSLAM

ConSLAM: Construction Dataset for SLAM

construction dataset point-cloud slam

Last synced: 03 Aug 2024

https://github.com/KuangenZhang/ldgcnn

Linked Dynamic Graph CNN: Learning through Point Cloud by Linking Hierarchical Features

cnn dynamic-graphs modelnet-dataset point-cloud point-cloud-classification point-cloud-segmentation shapenet-dataset

Last synced: 28 Oct 2024

https://github.com/akhilthomas17/pointcloud-landmarks-extractor

Tools to detect and classify landmarks (currently, trees and pole-like objects) from point cloud data

classification difference-of-normals landmark-detection pcl-library point-cloud random-forest segmentation

Last synced: 27 Oct 2024

https://github.com/hyangwinter/flownet3d_pytorch

The pytorch implementation of flownet3d: https://github.com/xingyul/flownet3d

point-cloud pytorch-implementation scene-flow

Last synced: 28 Oct 2024

https://github.com/StrayRobots/3d-annotation-tool

A graphical user interface to annotate point clouds and 3D data.

3d-vision bgfx computer-vision cpp detection labeling-tool lidar point-cloud

Last synced: 03 Aug 2024

https://github.com/risteon/blender_kitti

Render large point clouds and voxel grids with blender.

blender cycles-renderer kitti-dataset-visualization point-cloud voxelization

Last synced: 03 Aug 2024

Point cloud Awesome Lists
awesome-robotic-tooling 939 awesome-visual-slam 49 awesome-robotics 72 awesome-lidar 245 Awesome-3D-Object-Detection 169 Awesome-3D-Detectors 81 awesome-point-cloud-place-recognition 102 awesome-3D-point-cloud-attacks 79 awesome-lidar-place-recognition 75 awesome-point-cloud-deep-learning 42
Point cloud Categories
Sensor Processing 175 Development Environment 133 Paper (Lidar-based method) 80 Paper list 72 Simultaneous Localization and Mapping 68 Simulation 65 2020 63 Data Visualization and Mission Control 58 Attacks 55 Uncategorized 54 Algorithms 54 Manufacturers 54 Top conference & workshop 49 Documentation and Presentation 47 Planning and Control 43 Datasets 43 Electronics and Mechanics 42 User Interaction 41 Famous Research Group/Scholar 37 2021 37