A LiDAR odometry pipeline that just works

A collection of GICP-based fast point cloud registration algorithms

A lean C++ library for working with point cloud data

Point cloud registration pipeline for robot localization and 3D perception

Super fast implementation of ICP in CUDA for compute capable devices 3.5 or higher

Python binding of SLAM graph optimization framework g2o

Robust Point Cloud Registration Using Iterative Probabilistic Data Associations ("Robust ICP")

Efficient and parallel algorithms for point cloud registration [C++, Python]

Use LiDAR to map the static world

This package provides localization in a pre-built map using ICP and odometry (or the IMU measurements).

Minimal, robust, accurate and real-time LiDAR odometry

GenZ-ICP: SOTA robust LiDAR odometry (IEEE RA-L 2024)

Multi primitive-to-primitive (MP2P) ICP algorithms in C++

C++ implementation of 3-dimensional ICP (Iterative Closest Point) method.

Implementation of the iterative closest point algorithm. A point cloud is transformed such that it best matches a reference point cloud.

Go-ICP for globally optimal 3D pointset registration

cuda icp for 6D pose estimation

Icp Library featuring Point to Point, Point to Plane, ICP in Sim3 for scaling, and more to come :)

Azure Kinect multi-camera extrinsic calibration

Implementation of ICCV 2017: Colored Point Cloud Registration Revisited