This repository curates open-source resources for LiDAR-based autonomous UAVs, originally presented in Table I of our survey paper (TODO)
@article{ren2025lidar,
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},
journal = {arXiv preprint},
title = {A Survey on LiDAR-based Autonomous Aerial Vehicles},
year = {2025}
}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.
Includes tools and frameworks for localization, mapping, calibration, and software stacks focused on perception.
| Name | Year | Link |
|---|---|---|
| FAST-LIVO2 | 2024 | GitHub |
| Swarm-LIO2 | 2024 | GitHub |
| ROG-Map | 2024 | GitHub |
| D-Map | 2024 | GitHub |
| CLEARLAB | 2024 | GitHub |
| Point-LIO | 2023 | GitHub |
| DVLC | 2023 | GitHub |
| FAST-LIO2 | 2022 | GitHub |
| LI-Init | 2022 | GitHub |
| LVI-ExC | 2022 | GitHub |
| lidar-camera-calib | 2021 | GitHub |
| LIO-SAM | 2020 | GitHub |
| A-LOAM | 2020 | GitHub |
| CMU | 2020 | GitHub |
| FIESTA | 2019 | GitHub |
| Voxblox | 2017 | GitHub |
| Kalibr | 2016 | GitHub |
| OctoMap | 2013 | GitHub |
Includes planners and combined planner-controller frameworks.
| Name | Year | Link |
|---|---|---|
| SUPER | 2024 | GitHub |
| PMM | 2024 | GitHub |
| IPC | 2023 | GitHub |
| GCOPTER | 2022 | GitHub |
| mintime-replan | 2022 | GitHub |
| FASTER | 2021 | GitHub |
| time optimal | 2021 | GitHub |
| TRR | 2020 | GitHub |
| FastPlanner | 2020 | GitHub |
| EGO-Planner | 2020 | GitHub |
Includes controllers for UAVs.
| Name | Year | Link |
|---|---|---|
| Geometry Control | 2021 | GitHub |
| PMPC | 2018 | GitHub |
| RPG Quad Control | 2018 | GitHub |
| QuadRotor-Control | 2018 | GitHub |
Includes hardware-related projects (LiDAR, vision, and simulators).
| Name | Year | Link |
|---|---|---|
| SUPER-Hardware | 2025 | GitHub |
| OmniNxt | 2024 | GitHub |
| UniQuad | 2024 | GitHub |
| Aerial Gym | 2024 | GitHub |
| Agilicious | 2023 | GitHub |
| PULSAR | 2023 | GitHub |
| MARSIM | 2023 | GitHub |
| Fast-Drone-250 | 2022 | GitHub |
| Flightmare | 2021 | GitHub |
| AirSim | 2020 | GitHub |
| RotorS | 2016 | GitHub |
Includes autopilot frameworks.
| Name | Year | Link |
|---|---|---|
| PX4 | - | GitHub |
| Betaflight | - | GitHub |
| ArduPilot | - | GitHub |
We welcome contributions to expand and refine this collection! To add or update resources relevant to LiDAR-based UAV autonomy:
- Fork this repository.
- Add your resource to the appropriate category table in the README or include additional files if necessary.
- Submit a pull request with a brief description of your changes.
Please ensure that all contributions are open-source and align with the focus of this repository.
This repository is licensed under the MIT License. Feel free to use, modify, and distribute the content, provided the original license is included.