domain: autonomous-vehicles
259 products, primary matches first, then adoption-weighted; health v2 shown.
| Product | Health v2 | Stars | Maturity |
|---|---|---|---|
| commaai/openpilot openpilot is an open-source operating system for robotics that currently functions as an advanced driver assistance system (ADAS) for 300+ … | 91 | 63511 | active |
| ApolloAuto/apollo Apollo is an open-source autonomous driving platform providing a high-performance, modular software stack for developing, testing, and depl… | 57 | 26807 | active |
| ArduPilot/ardupilot ArduPilot is an open-source autopilot firmware suite (ArduPlane, ArduCopter, ArduRover, ArduSub) written in C++ that controls unmanned vehi… | 98 | 15748 | stable |
| carla-simulator/carla CARLA is an open-source simulator for autonomous driving research built on Unreal Engine, providing open digital assets like urban layouts,… | 70 | 14328 | 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 … | 89 | 12499 | 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… | 93 | 12016 | 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 | 6518 | 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… | 53 | 5692 | active |
| hku-mars/FAST_LIO FAST-LIO is a computationally efficient and robust LiDAR-inertial odometry package that tightly couples LiDAR feature points with IMU data … | 33 | 5099 | 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 … | 35 | 4895 | stable |
| mavlink/qgroundcontrol QGroundControl is a cross-platform ground control station for MAVLink-enabled drones, providing full flight control, mission planning, vehi… | 99 | 4871 | stable |
| OpenDriveLab/UniAD UniAD is a unified end-to-end autonomous driving framework that hierarchically casts perception, prediction, and planning tasks under a pla… | 44 | 4737 | active |
| ros-navigation/navigation2 Nav2 is the industry-standard navigation framework for ROS 2, providing perception, path planning, control, localization, and behavior-tree… | 99 | 4628 | stable |
| cyberbotics/webots Webots is an open-source, multi-platform desktop application for modeling, programming, and simulating robots, vehicles, and mechanical sys… | 67 | 4576 | stable |
| 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… | 56 | 4557 | active |
| eclipse-sumo/sumo Eclipse SUMO (Simulation of Urban MObility) is an open source, microscopic and continuous traffic simulation suite for large road networks,… | 77 | 4147 | stable |
| introlab/rtabmap RTAB-Map (Real-Time Appearance-Based Mapping) is a C++ library and standalone application implementing graph-based SLAM for RGB-D, stereo, … | 88 | 3965 | 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 … | 92 | 3656 | 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 … | 88 | 3495 | active |
| RainerKuemmerle/g2o g2o is an open-source C++ framework for optimizing graph-based nonlinear error functions, commonly used for nonlinear least squares problem… | 67 | 3461 | 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… | 77 | 3401 | 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 | 3387 | stable |
| Farama-Foundation/HighwayEnv HighwayEnv is a collection of Gymnasium environments for autonomous driving and tactical decision-making tasks, covering scenarios like hig… | 94 | 3298 | 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… | 57 | 3239 | 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 | 3230 | stable |
| 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… | 51 | 3225 | active |
| 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 | 3200 | 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 … | 43 | 3167 | active |
| rpng/open_vins OpenVINS is an open-source C++ platform for visual-inertial navigation research, centered on a filter-based (MSCKF/EKF) estimator that fuse… | 47 | 3057 | active |
| projectchrono/chrono Project Chrono is a high-performance, open-source C++ multiphysics simulation library for multibody dynamics, finite element analysis, gran… | 81 | 2993 | 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… | 66 | 2796 | 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 … | 41 | 2671 | active |
| ros-planning/navigation The ROS Navigation Stack, a 2D navigation system for mobile robots that consumes odometry, sensor streams, and a goal pose, and outputs saf… | 10 | 2660 | stable |
| 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… | 37 | 2618 | 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… | 93 | 2609 | 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 | 10223 | maintenance |
| AprilRobotics/apriltag AprilTag is a small C library implementing a visual fiducial (marker) detection system, computing the precise 3D position, orientation, and… | 71 | 2480 | stable |
| 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… | 48 | 2442 | active |
| 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 … | 28 | 2421 | 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… | 69 | 2355 | 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… | 83 | 2303 | 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 | 8986 | maintenance |
| 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 | 2291 | active |
| 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 … | 90 | 2214 | stable |
| 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… | 17 | 2186 | active |
| MRPT/mrpt MRPT is a mature C++ toolkit of libraries and applications for mobile robotics, covering SLAM, localization, probabilistic filtering, senso… | 98 | 2157 | stable |
| 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… | 37 | 2151 | stable |
| ompl/ompl OMPL is an open-source C++ library of over 40 sampling-based motion planning algorithms (RRT-Connect, PRM, RRT*, KPIECE, etc.) across more … | 95 | 2134 | stable |
| 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 | 7949 | maintenance |
| sunnypilot/sunnypilot sunnypilot is an open-source driver assistance system forked from comma.ai's openpilot, providing adaptive cruise control, automated lane c… | 98 | 2065 | active |
| ROBOTIS-GIT/turtlebot3 Official ROS packages for the ROBOTIS TurtleBot3 mobile robot platform, providing drivers, bringup, and core launch/configuration files. It… | 90 | 2048 | 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… | 76 | 1977 | 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… | 64 | 1947 | 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… | 72 | 1867 | active |
| alexliniger/MPCC A C++ and Matlab implementation of a Model Predictive Contouring Controller (MPCC) for autonomous racing, developed at ETH Zurich's Automat… | 68 | 1860 | 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 | 1801 | 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… | 77 | 1794 | 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… | 82 | 1773 | 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… | 44 | 1766 | 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 | 1758 | 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… | 48 | 1711 | active |
| paparazzi/paparazzi Paparazzi is a free and open-source hardware and software suite for unmanned air vehicles, providing autopilot firmware, ground control sta… | 85 | 1709 | active |
| symforce-org/symforce SymForce is a Python/C++ library for fast symbolic computation, code generation, and tangent-space nonlinear optimization aimed at robotics… | 94 | 1636 | 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 | 1633 | 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… | 51 | 1632 | 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… | 51 | 1631 | stable |
| 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 | 6011 | maintenance |
| pypose/pypose PyPose is a PyTorch-based Python library for differentiable robotics on manifolds, combining deep perceptual models with physics-based opti… | 91 | 1605 | active |
| autonomousvision/transfuser Official PyTorch implementation of TransFuser, a transformer-based multi-modal sensor fusion model for end-to-end autonomous driving, publi… | 53 | 1599 | stable |
| 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… | 33 | 1587 | active |
| ethz-asl/kalibr Kalibr is a visual-inertial calibration toolbox for camera systems and inertial measurement units. It supports multi-camera, camera-IMU, IM… | 32 | 5680 | maintenance |
| hustvl/MapTR MapTR is an end-to-end transformer-based framework for online vectorized HD map construction from camera imagery in autonomous driving. It … | 27 | 1542 | active |
| dRoninFlight/dRonin dRonin is open-source autopilot/flight controller firmware for OpenPilot/Tau Labs family boards, supporting multirotors, planes, and helico… | 49 | 1508 | active |
| 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 … | 74 | 1507 | stable |
| leggedrobotics/ocs2 OCS2 is a C++ toolbox for formulating and solving nonlinear optimal control problems, with an emphasis on real-time Model Predictive Contro… | 65 | 1501 | 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… | 76 | 1498 | active |
| hku-mars/LiDAR_IMU_Init LI-Init is a robust, real-time initialization method for LiDAR-inertial systems that calibrates temporal offset, extrinsic parameters, grav… | 59 | 1491 | active |
| hustvl/DiffusionDrive DiffusionDrive is a truncated diffusion model for real-time end-to-end autonomous driving, released as the official PyTorch implementation … | 44 | 1480 | 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… | 26 | 1472 | active |
| Gazebo Gazebo Sim is an open source robotics simulator providing high-fidelity physics, rendering, and sensor models. It offers a graphical interf… | 72 | 1466 | 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 | 1461 | stable |
| acados/acados acados is a modular C library providing fast embedded solvers for nonlinear optimal control problems, designed for real-time applications l… | 93 | 1450 | 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… | 94 | 1448 | active |
| nickrehm/dRehmFlight dRehmFlight is an Arduino-compatible flight controller and stabilization codebase for small-scale VTOL aircraft, built on the Teensy 4.0 mi… | 33 | 1431 | active |
| nasa/astrobee NASA's open-source flight software for the Astrobee free-flying robots operating aboard the International Space Station, written primarily … | 48 | 1397 | active |
| zju3dv/street_gaussians Street Gaussians is a research implementation of the ECCV 2024 paper 'Modeling Dynamic Urban Scenes with Gaussian Splatting', which reconst… | 40 | 1388 | 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… | 60 | 1362 | 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… | 50 | 1341 | 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 | 4684 | maintenance |
| 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… | 71 | 1318 | active |
| robodhruv/visualnav-transformer Official code and pre-trained checkpoints for the GNM, ViNT, and NoMaD family of general-purpose goal-conditioned visual navigation policie… | 19 | 1294 | 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 | 4579 | 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… | 60 | 1290 | stable |
| 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 | 1289 | 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 | 1288 | active |
| 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… | 61 | 1262 | active |
| ziyc/drivestudio DriveStudio is a Python framework for 3D Gaussian Splatting (3DGS) based reconstruction and simulation of dynamic urban driving scenes. It … | 40 | 1254 | active |
| stella-cv/stella_vslam stella_vslam is a community-maintained fork of OpenVSLAM implementing a monocular, stereo, and RGBD visual SLAM system in C++. It supports … | 77 | 1238 | active |
| metadriverse/metadrive MetaDrive is an open-source, lightweight driving simulator built for AI and autonomy research, supporting compositional scene synthesis and… | 39 | 1235 | active |
| stereolabs/zed-sdk The ZED SDK is a cross-platform spatial perception library for Stereolabs ZED stereo cameras, providing depth sensing, SLAM, 3D reconstruct… | 91 | 1229 | active |
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