hehern/lidar_perception

Self-Supervised LiDAR Ground Segmentation [CVPR 2026]

激光雷达障碍物检测和聚类，参考论文： Efficient Online Segmentation for Sparse 3D Laser Scans ; 其中包含地面分割代码 ransac;

A Tightly-Coupled System for LiDAR-Inertial Odometry and Multi-Object Tracking.

[RAL & ESI Highly Cited 🏆] OverlapTransformer: An Efficient and Yaw-Angle-Invariant Transformer Network for LiDAR-Based Place Recognition

😎 Awesome LIDAR list. The list includes LIDAR manufacturers, datasets, point cloud-processing algorithms, point cloud frameworks and simulators.

I'm LPR (LiDAR Place Recognition), even if built upon a Vision Foundation Model.

Evaluate Lidar-Inertial Odometry

A C++ library for ground segmentation of a pointcloud

Numpy-only dynamic object removal for LiDAR point clouds — 3D box crop + temporal filtering. No GPU, no deep learning.