Open-source autonomous-vehicles software
262 open-source libraries, tools and applications tagged autonomous-vehicles, ranked by how closely autonomous-vehicles is their primary purpose, then by adoption and maintenance health. Each entry links to a page with sources, use cases and when to choose or avoid it.
262 products, primary matches first, then adoption-weighted; health v2 shown.
| Product | Health v2 | Stars | Maturity |
|---|---|---|---|
| openpilot openpilot is an open-source operating system for robotics that currently functions as an advanced driver assistance system (ADAS) for 300+ … | 89 | 63922 | active |
| Apollo Apollo is an open-source autonomous driving platform providing a high-performance, modular software stack for developing, testing, and depl… | 54 | 26853 | active |
| ArduPilot ArduPilot is an open-source autopilot firmware suite (ArduPlane, ArduCopter, ArduRover, ArduSub) written in C++ that controls unmanned vehi… | 100 | 16081 | stable |
| CARLA Simulator CARLA is an open-source simulator for autonomous driving research built on Unreal Engine, providing open digital assets like urban layouts,… | 67 | 14465 | active |
| PX4/PX4-Autopilot PX4 is an open-source autopilot flight stack for drones and unmanned vehicles, supporting multirotors, fixed-wing, VTOL, rovers, and other … | 87 | 12829 | stable |
| Autoware Autoware is the world's leading open-source, production-ready software stack for autonomous driving, built on ROS 2 and hosted by the Autow… | 90 | 12155 | stable |
| open-mmlab/mmdetection3d MMDetection3D is OpenMMLab's next-generation platform for general 3D object detection, built on PyTorch. It provides a modular toolbox with… | 23 | 6535 | active |
| open-mmlab/OpenPCDet OpenPCDet is a PyTorch-based open-source toolbox for LiDAR-based 3D object detection. It provides official implementations of models like P… | 49 | 5718 | active |
| FAST-LIO FAST-LIO is a computationally efficient and robust LiDAR-inertial odometry package that tightly couples LiDAR feature points with IMU data … | 32 | 5280 | stable |
| QGroundControl QGroundControl is a cross-platform ground control station for MAVLink-enabled drones, providing full flight control, mission planning, vehi… | 99 | 5047 | stable |
| TixiaoShan/LIO-SAM LIO-SAM is a real-time tightly-coupled lidar-inertial odometry and mapping package built on factor graph optimization with GTSAM. It fuses … | 32 | 4935 | stable |
| Nav2 Nav2 is the industry-standard navigation framework for ROS 2, providing perception, path planning, control, localization, and behavior-tree… | 100 | 4821 | stable |
| OpenDriveLab/UniAD UniAD is a unified end-to-end autonomous driving framework that hierarchically casts perception, prediction, and planning tasks under a pla… | 41 | 4766 | active |
| hku-mars/FAST-LIVO2 FAST-LIVO2 is a fast, tightly-coupled LiDAR-inertial-visual odometry and mapping system written in C++ on ROS. It provides real-time, accur… | 54 | 4755 | active |
| Webots Webots is an open-source, multi-platform desktop application for modeling, programming, and simulating robots, vehicles, and mechanical sys… | 67 | 4698 | stable |
| eclipse-sumo/sumo Eclipse SUMO (Simulation of Urban MObility) is an open source, microscopic and continuous traffic simulation suite for large road networks,… | 77 | 4215 | stable |
| ODAS RTAB-Map (Real-Time Appearance-Based Mapping) is a C++ library and standalone application implementing graph-based SLAM for RGB-D, stereo, … | 86 | 4044 | stable |
| borglab/gtsam GTSAM is a C++ library implementing smoothing and mapping (SAM) for robotics and vision using factor graphs and Bayes networks as its core … | 93 | 3734 | active |
| Motion Planning A collection of motion planning algorithm implementations covering graph search (A*, JPS, D*, LPA*, D* Lite, Theta*), sampling-based planni… | 64 | 3592 | active |
| autorope/donkeycar Donkeycar is an open-source Python library and hardware platform for building small-scale self-driving RC cars with Raspberry Pi or Jetson … | 85 | 3515 | active |
| RainerKuemmerle/g2o g2o is an open-source C++ framework for optimizing graph-based nonlinear error functions, commonly used for nonlinear least squares problem… | 66 | 3466 | stable |
| luigifreda/pyslam pySLAM is a hybrid Python/C++ Visual SLAM pipeline supporting monocular, stereo, and RGB-D cameras with a wide range of local and global fe… | 76 | 3430 | active |
| HKUST-Aerial-Robotics/Fast-Planner Fast-Planner is a C++/ROS trajectory planning framework enabling quadrotors to fly fast through complex unknown environments. It provides a… | 32 | 3423 | stable |
| Farama-Foundation/HighwayEnv HighwayEnv is a collection of Gymnasium environments for autonomous driving and tactical decision-making tasks, covering scenarios like hig… | 92 | 3325 | active |
| amov-lab/Prometheus Prometheus is an open-source autonomous drone software system platform built on PX4 flight controller firmware and ROS. It provides onboard… | 53 | 3270 | active |
| ANYbotics/grid_map A C++ library with a ROS interface for managing multi-layered 2D grid maps for mobile robotic mapping, storing data like elevation, travers… | 47 | 3252 | active |
| mit-han-lab/bevfusion BEVFusion is a PyTorch-based multi-task multi-sensor fusion framework that unifies camera and LiDAR features in a shared bird's-eye view re… | 10 | 3231 | stable |
| PJLab-ADG/SensorsCalibration OpenCalib is a C++ multi-sensor calibration toolbox for autonomous driving that calibrates IMU, LiDAR, camera, and radar sensors, both intr… | 32 | 3228 | active |
| rmurai0610/MASt3R-SLAM MASt3R-SLAM is a real-time monocular dense SLAM system built on the MASt3R two-view 3D reconstruction prior, producing globally consistent … | 40 | 3191 | active |
| OpenVINS OpenVINS is an open-source C++ platform for visual-inertial navigation research, centered on a filter-based (MSCKF/EKF) estimator that fuse… | 44 | 3121 | active |
| projectchrono/chrono Project Chrono is a high-performance, open-source C++ multiphysics simulation library for multibody dynamics, finite element analysis, gran… | 77 | 3053 | stable |
| nutonomy/nuscenes-devkit The official Python devkit for the nuScenes dataset, a large-scale autonomous driving dataset from Motional. It provides dataset loading, v… | 62 | 2807 | stable |
| princeton-vl/DROID-SLAM DROID-SLAM is a deep learning-based visual SLAM system for monocular, stereo, and RGB-D cameras that estimates camera trajectory and dense … | 38 | 2699 | active |
| ZJU-FAST-Lab/ego-planner EGO-Planner is a lightweight, ESDF-free gradient-based local trajectory planner for quadrotors, implemented in C++ on ROS. It computes coll… | 33 | 2683 | stable |
| ROS Navigation Stack The ROS Navigation Stack, a 2D navigation system for mobile robots that consumes odometry, sensor streams, and a goal pose, and outputs saf… | 10 | 2663 | stable |
| SteveMacenski/slam_toolbox Slam Toolbox is a 2D SLAM library for ROS and ROS 2 providing lifelong mapping, localization, and pose-graph manipulation for potentially m… | 89 | 2658 | active |
| raulmur/ORB_SLAM2 ORB-SLAM2 is a real-time SLAM library for monocular, stereo, and RGB-D cameras that computes camera trajectories and sparse 3D reconstructi… | 32 | 10245 | maintenance |
| AprilTag AprilTag is a small C library implementing a visual fiducial (marker) detection system, computing the precise 3D position, orientation, and… | 65 | 2548 | stable |
| jyjblrd/Low-Cost-Mocap A low-cost, room-scale motion capture system built with PlayStation cameras and ESP32 hardware, used to track objects and autonomously fly … | 29 | 2487 | active |
| hku-mars/r3live R3LIVE is a tightly-coupled LiDAR-Inertial-Visual sensor fusion framework for robust, real-time state estimation and RGB-colored 3D mapping… | 44 | 2473 | active |
| ArduPilot/MissionPlanner Mission Planner is the primary open-source ground control station (GCS) for ArduPilot autopilots, written in C#/.NET. It provides point-and… | 68 | 2399 | active |
| PRBonn/kiss-icp KISS-ICP is a LiDAR odometry pipeline built around a simple ICP-based approach that works out of the box on most datasets without parameter… | 81 | 2326 | active |
| UZ-SLAMLab/ORB_SLAM3 ORB-SLAM3 is a real-time SLAM library supporting Visual, Visual-Inertial, and Multi-Map SLAM with monocular, stereo, and RGB-D cameras usin… | 23 | 9125 | maintenance |
| JSBSim-Team/jsbsim JSBSim is an open-source, object-oriented flight dynamics model (FDM) written in C++ that simulates the nonlinear 6-DoF motion of aircraft … | 95 | 2303 | stable |
| traveller59/spconv SpConv is a spatially sparse convolution library for deep learning on 3D point clouds and sparse tensors, distributed as PyPI packages with… | 32 | 2299 | active |
| spla-tam/SplaTAM SplaTAM is a dense RGB-D SLAM system that uses 3D Gaussian splatting for high-fidelity scene reconstruction and precise camera tracking fro… | 18 | 2200 | active |
| ZJU-FAST-Lab/ego-planner-swarm EGO-Swarm is a decentralized, asynchronous trajectory planner for single and multi-agent quadrotor navigation in unknown, obstacle-rich env… | 33 | 2197 | stable |
| MRPT/mrpt MRPT is a mature C++ toolkit of libraries and applications for mobile robotics, covering SLAM, localization, probabilistic filtering, senso… | 95 | 2160 | stable |
| Open Motion Planning Library (OMPL) OMPL is an open-source C++ library of over 40 sampling-based motion planning algorithms (RRT-Connect, PRM, RRT*, KPIECE, etc.) across more … | 90 | 2156 | stable |
| sunnypilot/sunnypilot sunnypilot is an open-source driver assistance system forked from comma.ai's openpilot, providing adaptive cruise control, automated lane c… | 95 | 2121 | active |
| Cartographer Cartographer is a C++ library that computes real-time simultaneous localization and mapping (SLAM) in 2D and 3D from sensor streams such as… | 23 | 7985 | maintenance |
| TurtleBot3 Official ROS packages for the ROBOTIS TurtleBot3 mobile robot platform, providing drivers, bringup, and core launch/configuration files. It… | 84 | 2065 | active |
| MoveIt Motion Planning Framework MoveIt is an open-source motion planning framework for ROS and ROS 2 that provides manipulation, inverse kinematics, collision checking, an… | 75 | 2024 | stable |
| cra-ros-pkg/robot_localization robot_localization is a ROS package of nonlinear state estimation nodes (EKF, UKF, and navsat_transform) for fusing IMU, odometry, and othe… | 61 | 1966 | stable |
| NVIDIA-AI-IOT/Lidar_AI_Solution NVIDIA's collection of GPU-accelerated Lidar AI inference solutions for autonomous driving, including optimized implementations of PointPil… | 69 | 1885 | active |
| koide3/glim GLIM is a versatile and extensible point cloud-based 3D localization and mapping (SLAM) framework written in C++. It performs direct multi-… | 76 | 1881 | active |
| alexliniger/MPCC A C++ and Matlab implementation of a Model Predictive Contouring Controller (MPCC) for autonomous racing, developed at ETH Zurich's Automat… | 64 | 1879 | active |
| NVlabs/curobo cuRobo is a CUDA-accelerated Python library for robot motion generation built on PyTorch, CUDA, and Warp. It provides GPU-parallel algorith… | 75 | 1865 | active |
| nvidia-isaac/cuVSLAM cuVSLAM is NVIDIA's CUDA-accelerated library for real-time visual odometry and simultaneous localization and mapping (SLAM). It supports mu… | 78 | 1824 | active |
| HuangJunJie2017/BEVDet BEVDet is a Python research codebase implementing the BEVDet series of bird's-eye-view (BEV) 3D object detection models for autonomous driv… | 23 | 1805 | active |
| ankitdhall/lidar_camera_calibration A ROS package that computes the rigid-body transformation (rotation and translation) between a LiDAR and a camera using 3D-3D point corresp… | 40 | 1771 | active |
| robin-shaun/XTDrone XTDrone is a customizable UAV simulation platform built on PX4, ROS, and Gazebo, supporting multi-rotors, fixed-wing, VTOL vehicles, and ot… | 77 | 1733 | active |
| Paparazzi UAV Paparazzi is a free and open-source hardware and software suite for unmanned air vehicles, providing autopilot firmware, ground control sta… | 82 | 1714 | active |
| unitreerobotics/xr_teleoperate xr_teleoperate is a Python application from Unitree Robotics that enables teleoperation of Unitree humanoid robots (G1, H1_2, H2, R1) using… | 66 | 1685 | active |
| gaoxiang12/lightning-lm Lightning-LM is a C++ library providing a complete 3D LiDAR SLAM system with fast LIO front-end, real-time loop closure detection, and high… | 48 | 1664 | active |
| hku-mars/FAST-LIVO FAST-LIVO is a fast, tightly-coupled sparse-direct LiDAR-Inertial-Visual Odometry system combining a LIO subsystem that registers raw point… | 47 | 1654 | stable |
| symforce-org/symforce SymForce is a Python/C++ library for fast symbolic computation, code generation, and tangent-space nonlinear optimization aimed at robotics… | 89 | 1646 | active |
| HKUST-Aerial-Robotics/VINS-Mono VINS-Mono is a real-time SLAM framework for monocular visual-inertial systems, using an optimization-based sliding window formulation for h… | 32 | 6058 | maintenance |
| Zhefan-Xu/NavRL NavRL is a reinforcement learning framework for safe robot and UAV navigation in dynamic environments, published at IEEE RA-L 2025. It incl… | 30 | 1632 | active |
| pypose/pypose PyPose is a PyTorch-based Python library for differentiable robotics on manifolds, combining deep perceptual models with physics-based opti… | 90 | 1615 | active |
| autonomousvision/transfuser Official PyTorch implementation of TransFuser, a transformer-based multi-modal sensor fusion model for end-to-end autonomous driving, publi… | 75 | 1606 | stable |
| OKVIS Kalibr is a visual-inertial calibration toolbox for camera systems and inertial measurement units. It supports multi-camera, camera-IMU, IM… | 32 | 5759 | maintenance |
| koide3/direct_visual_lidar_calibration A C++ toolbox for target-less, single-shot extrinsic calibration between LiDAR sensors and cameras, supporting spinning and non-repetitive … | 70 | 1566 | stable |
| hustvl/MapTR MapTR is an end-to-end transformer-based framework for online vectorized HD map construction from camera imagery in autonomous driving. It … | 23 | 1558 | active |
| Gazebo Gazebo Sim is an open source robotics simulator providing high-fidelity physics, rendering, and sensor models. It offers a graphical interf… | 69 | 1540 | active |
| introlab/rtabmap_ros RTAB-Map's ROS package providing real-time appearance-based SLAM (RGB-D, stereo, and LiDAR graph SLAM) as ROS 1 and ROS 2 nodes. It integra… | 88 | 1533 | active |
| leggedrobotics/ocs2 OCS2 is a C++ toolbox for formulating and solving nonlinear optimal control problems, with an emphasis on real-time Model Predictive Contro… | 66 | 1529 | active |
| FAST-LIO LI-Init is a robust, real-time initialization method for LiDAR-inertial systems that calibrates temporal offset, extrinsic parameters, grav… | 55 | 1527 | active |
| hustvl/DiffusionDrive DiffusionDrive is a truncated diffusion model for real-time end-to-end autonomous driving, released as the official PyTorch implementation … | 41 | 1513 | active |
| dRoninFlight/dRonin dRonin is open-source autopilot/flight controller firmware for OpenPilot/Tau Labs family boards, supporting multirotors, planes, and helico… | 44 | 1506 | active |
| HKUST-Aerial-Robotics/FUEL FUEL is a C++/ROS framework for fast autonomous UAV exploration, built around an incremental Frontier Information Structure and hierarchica… | 32 | 1496 | stable |
| acados/acados acados is a modular C library providing fast embedded solvers for nonlinear optimal control problems, designed for real-time applications l… | 91 | 1493 | active |
| NVIDIA-ISAAC-ROS/isaac_ros_visual_slam Isaac ROS Visual SLAM is a ROS 2 package providing GPU-accelerated visual simultaneous localization and mapping (VSLAM) using stereo visual… | 93 | 1473 | active |
| mit-han-lab/torchsparse TorchSparse is a high-performance PyTorch library for sparse convolution on 3D point clouds, with optimized GPU kernels for both training a… | 23 | 1473 | active |
| dRehmFlight dRehmFlight is an Arduino-compatible flight controller and stabilization codebase for small-scale VTOL aircraft, built on the Teensy 4.0 mi… | 32 | 1456 | active |
| Astrobee Robot Software NASA's open-source flight software for the Astrobee free-flying robots operating aboard the International Space Station, written primarily … | 44 | 1415 | active |
| zju3dv/street_gaussians Street Gaussians is a research implementation of the ECCV 2024 paper 'Modeling Dynamic Urban Scenes with Gaussian Splatting', which reconst… | 70 | 1405 | active |
| hustvl/VAD VAD is an end-to-end autonomous driving framework that models the driving scene as a fully vectorized representation of agents and map elem… | 57 | 1383 | active |
| hku-mars/Point-LIO Point-LIO is a robust high-bandwidth LiDAR-inertial odometry framework that estimates ego-motion and builds maps by fusing LiDAR point clou… | 68 | 1356 | active |
| rst-tu-dortmund/teb_local_planner A ROS package implementing a local trajectory planner plugin for the 2D navigation stack based on Timed Elastic Bands. It locally optimizes… | 66 | 1351 | stable |
| HKUST-Aerial-Robotics/VINS-Fusion VINS-Fusion is an optimization-based multi-sensor state estimator for accurate self-localization in autonomous applications such as drones,… | 32 | 4748 | maintenance |
| General Navigation Models Official code and pre-trained checkpoints for the GNM, ViNT, and NoMaD family of general-purpose goal-conditioned visual navigation policie… | 20 | 1315 | active |
| hku-mars/livox_camera_calib A C++/ROS tool from HKU MARS for automatic extrinsic calibration between high-resolution LiDAR (e.g., Livox) and cameras in targetless envi… | 32 | 1313 | stable |
| ZJU-FAST-Lab/GCOPTER GCOPTER is a general-purpose trajectory optimizer for multicopters built on the sparse MINCO trajectory representation. It supports user-de… | 32 | 1306 | active |
| fundamentalvision/BEVFormer BEVFormer is the official PyTorch implementation of an ECCV 2022 paper that learns bird's-eye-view (BEV) representations from multi-camera … | 23 | 4624 | maintenance |
| streamlit/demo-self-driving A Streamlit demo app that provides an interactive image browser for the Udacity self-driving-car dataset with realtime YOLO object detectio… | 56 | 1293 | stable |
| ethz-asl/rovio ROVIO (Robust Visual Inertial Odometry) is a C++ framework from ETH Zurich that estimates camera and IMU trajectory using an iterated exten… | 74 | 1270 | active |
| ziyc/drivestudio DriveStudio is a Python framework for 3D Gaussian Splatting (3DGS) based reconstruction and simulation of dynamic urban driving scenes. It … | 37 | 1267 | active |
| metadriverse/metadrive MetaDrive is an open-source, lightweight driving simulator built for AI and autonomy research, supporting compositional scene synthesis and… | 68 | 1259 | active |
| Stella VSLAM stella_vslam is a community-maintained fork of OpenVSLAM implementing a monocular, stereo, and RGBD visual SLAM system in C++. It supports … | 73 | 1250 | active |
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