A collection of GICP-based fast point cloud registration algorithms

• UpdatedApr 24, 2025
• C++

Point cloud registration pipeline for robot localization and 3D perception

• UpdatedJul 25, 2024
• C++

Multi-threaded and SSE friendly NDT algorithm

• UpdatedAug 31, 2024
• C++

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

• UpdatedJun 10, 2025
• C++

K-Closest Points and Maximum Clique Pruning for Efficient and Effective 3-D Laser Scan Matching (RA-L 2022)

• UpdatedMay 26, 2024
• C++

Laser scan matcher ported to ROS2

• UpdatedAug 11, 2025
• C++

ROS package for NDT-PSO, a 2D Laser scan matching algorithm for SLAM

• UpdatedMar 23, 2023
• C++

Globally localise your 2D LIDAR in a 2D map in no time [IROS'24]

• UpdatedNov 26, 2025
• C++

Obtain robust odometry from your noisy panoramic 2D LIDAR [IROS'22]

• UpdatedNov 21, 2025
• C++

The Fourier Scan Matcher: a correspondenceless and closed-form matching algorithm for range scans of 2D panoramic LIDAR sensors

• UpdatedOct 15, 2025
• C++

This repository contains solution for SLAM lectures taught by Claus Brenner on YouTube.

• UpdatedDec 14, 2020
• Python

Simple 2D point-to-point scan matcher implemented in Python. Works with ROS1.

• UpdatedMar 19, 2023
• Jupyter Notebook

• UpdatedDec 11, 2021
• Jupyter Notebook

• UpdatedMar 7, 2019
• MATLAB

[ROS package] Lidar odometry from panoramic 2D range scans. Method: scan-matching without using correspondences, based on properties of the Discrete Fourier Transform

• UpdatedJul 3, 2024
• C++

LiDAR Odometry with Scan Matching

• UpdatedMar 13, 2025
• C++

Simple scan matcher based on the paper Real-Time Correlative Scan Matching by Olson 2009

• UpdatedAug 21, 2025
• Python

Implemented the Iterative Closest Point (ICP) algorithm, and used it to estimate the rigid transformation that optimally aligns two 3D point clouds

• UpdatedJun 24, 2023
• Python