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

24.06.03 : First public commit

LiDAR Mapping

LiDAR Only

Year	Venue	Paper Title
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
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	`arXiv`	MAD-ICP: It Is All About Matching Data – Robust and Informed LiDAR Odometry

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LiDAR-Inertial

Year	Venue	Paper Title
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
22	`arXiv`	SR-LIO: LiDAR-Inertial Odometry with Sweep Reconstruction
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	`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	`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
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
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	`arXiv`	N3-Mapping: Normal Guided Neural Non-Projective Signed Distance Fields for Large-scale 3D Mapping
24	`arXiv`	PIN-SLAM: LiDAR SLAM Using a Point-Based Implicit Neural Representation for Achieving Global Map Consistency

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Static Mapping

Algorithm-based Removal

Year	Venue	Paper Title
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
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

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Multiple Map Merging

Year	Venue	Paper Title
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