└── README.md /README.md: -------------------------------------------------------------------------------- 1 | # LiDAR-UAV-Autonomy 2 | 3 | This repository curates open-source resources for LiDAR-based autonomous UAVs, originally presented in Table I of our survey paper (TODO) 4 | 5 | ```bib 6 | @article{ren2025lidar, 7 | author = {Ren, Yunfan and Cai, Yixi and Li, Haotian and Chen, Nan and Zhu, Fangcheng and Yin, Longji and Kong, Fanze and Li, Rundong and Zhang, Fu}, 8 | journal = {arXiv preprint}, 9 | title = {A Survey on LiDAR-based Autonomous Aerial Vehicles}, 10 | year = {2025} 11 | } 12 | ``` 13 | 14 | It aims to support the UAV autonomy research community by providing accessible, up-to-date tools, frameworks, and resources for advancing LiDAR-based UAV technologies. 15 | 16 | ## Resources by Category 17 | 18 | ### Perception 19 | Includes tools and frameworks for localization, mapping, calibration, and software stacks focused on perception. 20 | 21 | | **Name** | **Year** | **Link** | 22 | | ------------------ | -------- | ------------------------------------------------------------ | 23 | | FAST-LIVO2 | 2024 | [GitHub](https://github.com/hku-mars/FAST-LIVO2) | 24 | | Swarm-LIO2 | 2024 | [GitHub](https://github.com/hku-mars/Swarm-LIO2) | 25 | | ROG-Map | 2024 | [GitHub](https://github.com/hku-mars/ROG-Map) | 26 | | D-Map | 2024 | [GitHub](https://github.com/hku-mars/D-Map) | 27 | | CLEARLAB | 2024 | [GitHub](https://github.com/Zhefan-Xu/CERLAB-UAV-Autonomy) | 28 | | Point-LIO | 2023 | [GitHub](https://github.com/hku-mars/Point-LIO) | 29 | | DVLC | 2023 | [GitHub](https://github.com/koide3/direct_visual_lidar_calibration) | 30 | | FAST-LIO2 | 2022 | [GitHub](https://github.com/hku-mars/FAST_LIO) | 31 | | LI-Init | 2022 | [GitHub](https://github.com/hku-mars/LiDAR_IMU_Init) | 32 | | LVI-ExC | 2022 | [GitHub](https://github.com/peterWon/LVI-ExC) | 33 | | lidar-camera-calib | 2021 | [GitHub](https://github.com/hku-mars/livox_camera_calib) | 34 | | LIO-SAM | 2020 | [GitHub](https://github.com/TixiaoShan/LIO-SAM) | 35 | | A-LOAM | 2020 | [GitHub](https://github.com/HKUST-Aerial-Robotics/A-LOAM) | 36 | | CMU | 2020 | [GitHub](https://github.com/HongbiaoZ/autonomous_exploration_development_environment) | 37 | | FIESTA | 2019 | [GitHub](https://github.com/HKUST-Aerial-Robotics/FIESTA) | 38 | | Voxblox | 2017 | [GitHub](https://github.com/ethz-asl/voxblox) | 39 | | Kalibr | 2016 | [GitHub](https://github.com/ethz-asl/kalibr) | 40 | | OctoMap | 2013 | [GitHub](https://github.com/OctoMap/octomap) | 41 | 42 | ### Planning 43 | Includes planners and combined planner-controller frameworks. 44 | 45 | | **Name** | **Year** | **Link** | 46 | | -------------- | -------- | ------------------------------------------------------------ | 47 | | SUPER | 2024 | [GitHub](https://github.com/hku-mars/SUPER) | 48 | | PMM | 2024 | [GitHub](https://github.com/ctu-mrs/pmm_uav_planner) | 49 | | IPC | 2023 | [GitHub](https://github.com/hku-mars/IPC) | 50 | | GCOPTER | 2022 | [GitHub](https://github.com/ZJU-FAST-Lab/GCOPTER) | 51 | | mintime-replan | 2022 | [GitHub](https://github.com/uzh-rpg/sb_min_time_quadrotor_planning) | 52 | | FASTER | 2021 | [GitHub](https://github.com/mit-acl/faster) | 53 | | time optimal | 2021 | [GitHub](https://github.com/uzh-rpg/rpg_time_optimal) | 54 | | TRR | 2020 | [GitHub](https://github.com/HKUST-Aerial-Robotics/Teach-Repeat-Replan) | 55 | | FastPlanner | 2020 | [GitHub](https://github.com/HKUST-Aerial-Robotics/Fast-Planner) | 56 | | EGO-Planner | 2020 | [GitHub](https://github.com/ZJU-FAST-Lab/ego-planner) | 57 | 58 | ### Control 59 | Includes controllers for UAVs. 60 | 61 | | **Name** | **Year** | **Link** | 62 | | ----------------- | -------- | ------------------------------------------------------------ | 63 | | Geometry Control | 2021 | [GitHub](https://github.com/yorgoon/minimum-snap-geometric-control) | 64 | | PMPC | 2018 | [GitHub](https://github.com/uzh-rpg/rpg_mpc) | 65 | | RPG Quad Control | 2018 | [GitHub](https://github.com/uzh-rpg/rpg_quadrotor_control) | 66 | | QuadRotor-Control | 2018 | [GitHub](https://github.com/srikantrao/QuadRotor-Control) | 67 | 68 | ### Hardware 69 | Includes hardware-related projects (LiDAR, vision, and simulators). 70 | 71 | | **Name** | **Year** | **Link** | 72 | | -------------- | -------- | ---------------------------------------------------------- | 73 | | SUPER-Hardware | 2025 | [GitHub](https://github.com/hku-mars/SUPER-Hardware) | 74 | | OmniNxt | 2024 | [GitHub](https://github.com/HKUST-Aerial-Robotics/OmniNxt) | 75 | | UniQuad | 2024 | [GitHub](https://github.com/HKUST-Aerial-Robotics/UniQuad) | 76 | | Aerial Gym | 2024 | [GitHub](https://github.com/ntnu-arl/aerial_gym_simulator) | 77 | | Agilicious | 2023 | [GitHub](https://github.com/uzh-rpg/agilicious) | 78 | | PULSAR | 2023 | [GitHub](https://github.com/hku-mars/PULSAR) | 79 | | MARSIM | 2023 | [GitHub](https://github.com/hku-mars/MARSIM) | 80 | | Fast-Drone-250 | 2022 | [GitHub](https://github.com/ZJU-FAST-Lab/Fast-Drone-250) | 81 | | Flightmare | 2021 | [GitHub](https://github.com/uzh-rpg/flightmare) | 82 | | AirSim | 2020 | [GitHub](https://microsoft.github.io/AirSim/) | 83 | | RotorS | 2016 | [GitHub](https://github.com/ethz-asl/rotors_simulator) | 84 | 85 | ### Autopilots 86 | Includes autopilot frameworks. 87 | 88 | | **Name** | **Year** | **Link** | 89 | | ---------- | -------- | -------------------------------------------------- | 90 | | PX4 | - | [GitHub](https://github.com/PX4) | 91 | | Betaflight | - | [GitHub](https://github.com/betaflight/betaflight) | 92 | | ArduPilot | - | [GitHub](https://github.com/ArduPilot/ardupilot) | 93 | 94 | ## Contributing 95 | 96 | We welcome contributions to expand and refine this collection! To add or update resources relevant to LiDAR-based UAV autonomy: 97 | 1. Fork this repository. 98 | 2. Add your resource to the appropriate category table in the README or include additional files if necessary. 99 | 3. Submit a pull request with a brief description of your changes. 100 | 101 | Please ensure that all contributions are open-source and align with the focus of this repository. 102 | 103 | ## License 104 | 105 | This repository is licensed under the [MIT License](LICENSE). Feel free to use, modify, and distribute the content, provided the original license is included. --------------------------------------------------------------------------------