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 |
|---|---|---|---|
| NVlabs/alpasim AlpaSim is an open-source, Python-based autonomous vehicle simulation platform for developing and testing end-to-end AV policies in closed … | 72 | 1245 | active |
| ZED SDK The ZED SDK is a cross-platform spatial perception library for Stereolabs ZED stereo cameras, providing depth sensing, SLAM, 3D reconstruct… | 84 | 1236 | active |
| mavlink/mavros MAVROS is a MAVLink-to-ROS 2 gateway that exposes flight controller data (PX4, ArduPilot) as standard ROS 2 topics, services, and parameter… | 95 | 1224 | active |
| i2Nav-WHU/KF-GINS KF-GINS is an open-source C++ implementation of an EKF-based GNSS/INS loosely-coupled integrated navigation system, developed by Wuhan Univ… | 67 | 1215 | active |
| AirSLAM AirSLAM is an efficient, illumination-robust point-line visual SLAM system supporting stereo visual odometry/VIO, offline map optimization,… | 43 | 1200 | active |
| YOPO YOPO is a learning-based one-stage planner for quadrotor autonomous navigation in obstacle-dense environments, integrating perception, mapp… | 76 | 1187 | active |
| superxslam/SuperOdom SuperOdometry is a lightweight C++/ROS library for LiDAR-only and LiDAR-inertial odometry and mapping, developed by CMU's AirLab. It fuses … | 49 | 1168 | active |
| ucla-mobility/OpenCDA OpenCDA is an open-source Python framework for prototyping and evaluating full-stack cooperative driving automation (CDA) applications in a… | 63 | 1166 | active |
| cure-lab/MagicDrive MagicDrive is the official PyTorch implementation of an ICLR 2024 paper for controllable street view generation using diffusion models with… | 32 | 1165 | active |
| naurril/SUSTechPOINTS SUSTechPOINTS is a web-based 3D point cloud annotation platform for labeling LiDAR data with 3D bounding boxes, aimed at autonomous driving… | 58 | 1160 | active |
| wh200720041/floam FLOAM is a fast and optimized Lidar Odometry And Mapping (LOAM) implementation for indoor and outdoor localization, modified from LOAM and … | 32 | 1145 | stable |
| OpenDriveLab/UniVLA UniVLA is an open-source framework for training cross-embodiment vision-language-action (VLA) robot policies using task-centric latent acti… | 40 | 1134 | active |
| leggedrobotics/elevation_mapping_cupy A GPU-accelerated elevation mapping library for robotics, built on CuPy and integrated with ROS, that fuses point clouds into multi-modal t… | 86 | 1131 | active |
| princeton-vl/DPVO DPVO is a deep learning-based visual odometry and SLAM system that estimates camera trajectories from video or image sequences using patch-… | 75 | 1127 | active |
| cggos/imu_x_fusion A C++/ROS library implementing loosely-coupled IMU + X (GNSS, 6DoF odometry) fusion localization using ESKF, IEKF, UKF variants, and MAP es… | 34 | 1126 | active |
| hanruihua/NeuPAN NeuPAN is a real-time, map-free robot motion planner that maps raw obstacle point data directly to control actions using an end-to-end MPC-… | 63 | 1124 | active |
| louiszengCN/CarlaAir CarlaAir is an open-source simulation infrastructure that combines CARLA's high-fidelity urban driving environments with physics-accurate m… | 68 | 1117 | active |
| autonomousvision/navsim NAVSIM is a data-driven pseudo-simulation framework and benchmark for autonomous vehicle planning, evaluating driving agents non-reactively… | 47 | 1117 | active |
| waymo-research/waymax Waymax is a lightweight, multi-agent autonomous driving simulator built entirely in JAX, based on the Waymo Open Motion Dataset. It support… | 46 | 1108 | active |
| hku-mars/FAST-Calib FAST-Calib is a C++ tool for fast, target-based extrinsic calibration of LiDAR-camera systems, producing accurate results in about one seco… | 53 | 1103 | active |
| Patchwork++ Patchwork++ is a fast, robust, and self-adaptive ground segmentation algorithm for 3D LiDAR point clouds, published at IROS 2022. It provid… | 81 | 1101 | active |
| TinyMPC/TinyMPC TinyMPC is an open-source C++ solver for convex model-predictive control with a small memory footprint, designed for resource-constrained m… | 70 | 1100 | active |
| LeCAR-Lab/human2humanoid Official implementation of H2O and OmniH2O, reinforcement-learning-based systems for real-time whole-body teleoperation of full-sized human… | 23 | 1078 | active |
| SUPER SUPER is a safety-assured high-speed navigation system for micro aerial vehicles (MAVs), published in Science Robotics by HKU MaRS Lab. It … | 29 | 1073 | active |
| ZhengYinan-AIR/Diffusion-Planner Official PyTorch implementation of Diffusion Planner, an ICLR 2025 Oral paper using a DiT-based diffusion model for closed-loop autonomous … | 50 | 1069 | active |
| koide3/small_gicp small_gicp is a header-only C++ library with Python bindings for fast, parallelized point cloud registration algorithms including ICP, Poin… | 60 | 1061 | active |
| eCAL eCAL is a high-performance, brokerless middleware for interprocess communication on a single machine or across a network, offering publish-… | 95 | 1055 | active |
| linorobot/linorobot2 linorobot2 is a ROS 2 package that provides a complete, working foundation for building autonomous mobile robots with 2WD, 4WD, and Mecanum… | 76 | 1054 | active |
| vectr-ucla/direct_lidar_inertial_odometry DLIO is a lightweight LiDAR-inertial odometry algorithm that constructs continuous-time trajectories using a coarse-to-fine approach for pr… | 50 | 1050 | active |
| vectr-ucla/direct_lidar_odometry Direct LiDAR Odometry (DLO) is a lightweight, computationally-efficient frontend LiDAR odometry package for consistent and accurate pose es… | 23 | 1049 | stable |
| motional/nuplan-devkit The official devkit for the nuPlan dataset, providing tools to load, visualize, and process the large-scale autonomous driving planning dat… | 37 | 1034 | active |
| cityflow-project/CityFlow CityFlow is an open-source microscopic traffic simulator designed as a multi-agent reinforcement learning environment for large-scale city … | 45 | 1025 | active |
| MichaelFYang/far_planner FAR Planner is a C++/ROS route planner for autonomous robots that builds a dynamically updated visibility graph to plan paths in both known… | 66 | 1017 | stable |
| chhRobotics A C++ implementation collection of common planning and control algorithms for autonomous driving, including global/local path planning (A*,… | 32 | 1015 | active |
| SparseDrive SparseDrive is a research codebase implementing an end-to-end autonomous driving framework based on sparse scene representation. It unifies… | 58 | 1006 | active |
| ethz-asl/maplab maplab 2.0 is an open, research-oriented C++ mapping framework for multi-session and multi-robot SLAM, built on ROS. It provides robust vis… | 23 | 2880 | maintenance |
| LeGO-LOAM LeGO-LOAM is a lightweight, ground-optimized lidar odometry and mapping (SLAM) system for ROS-compatible unmanned ground vehicles. It consu… | 32 | 2754 | maintenance |
| zhm-real/MotionPlanning A Python collection of motion planning and path tracking algorithms for autonomous vehicles, including Hybrid A*, Frenet Optimal Trajectory… | 32 | 2751 | maintenance |
| tum-vision/lsd_slam LSD-SLAM is a real-time monocular SLAM system that uses direct (featureless) image alignment to build large-scale, semi-dense 3D maps from … | 32 | 2730 | maintenance |
| iliasam/OpenSimpleLidar Open Source scanning laser rangefinder (lidar) built with STM32 firmware and a triangulation-based optical design, with schematics, firmwar… | 34 | 2571 | maintenance |
| MaybeShewill-CV/lanenet-lane-detection An unofficial TensorFlow implementation of the LaneNet deep neural network for real-time lane detection, based on the IEEE IV paper 'Toward… | 32 | 2564 | maintenance |
| xingyizhou/CenterTrack CenterTrack is a deep learning model and research codebase that performs simultaneous multi-object detection and tracking using center poin… | 32 | 2476 | maintenance |
| Direct Sparse Odometry DSO (Direct Sparse Odometry) is a C++ library implementing monocular visual odometry using direct sparse methods with photometric calibrati… | 32 | 2459 | maintenance |
| HKUST-Aerial-Robotics/A-LOAM A-LOAM is an advanced, simplified C++ implementation of LOAM (Lidar Odometry and Mapping in Real-time) built on Eigen and Ceres Solver. It … | 32 | 2446 | maintenance |
| cruise-automation/webviz Webviz is a web-based application for playback and visualization of ROS bag files, with modular panels for 3D scenes, plots, and images. Th… | 32 | 2346 | maintenance |
| koide3/hdl_graph_slam hdl_graph_slam is an open-source ROS package for real-time 6DOF SLAM using 3D LIDAR, based on graph SLAM with NDT scan matching odometry an… | 32 | 2337 | maintenance |
| hustvl/YOLOP YOLOP is a multi-task deep learning network that jointly performs traffic object detection, drivable area segmentation, and lane detection … | 32 | 2249 | maintenance |
| onlytailei/CppRobotics A C++ implementation of robotics algorithms from PythonRobotics, covering localization, mapping, SLAM, path planning, and path tracking con… | 32 | 2235 | maintenance |
| uzh-rpg/rpg_svo SVO is a semi-direct monocular visual odometry pipeline written in C++ that estimates camera motion from image sequences. It is research co… | 32 | 2233 | maintenance |
| tianweiy/CenterPoint Official PyTorch implementation of CenterPoint, a CVPR 2021 method that performs 3D object detection and tracking from LiDAR point clouds b… | 23 | 2195 | maintenance |
| Eclipse iceoryx Eclipse iceoryx is a C++ inter-process communication (IPC) middleware that provides true zero-copy data transfer via shared memory, with pu… | 87 | 2194 | maintenance |
| Kimera Kimera is a modular C++ library for real-time metric-semantic SLAM that builds semantically annotated 3D meshes from camera and inertial da… | 32 | 2130 | maintenance |
| generalized-intelligence/GAAS GAAS (Generalized Autonomy Aviation System) is an open-source C++ framework for fully autonomous VTOL aircraft and drones, built around lid… | 23 | 2094 | maintenance |
| flowdriveai/flowpilot Flowpilot is an open source driver assistance system built on top of openpilot that provides adaptive cruise control, automated lane center… | 23 | 2071 | maintenance |
| Ultra-Fast-Lane-Detection A PyTorch implementation of the ECCV 2020 paper 'Ultra Fast Structure-aware Deep Lane Detection', providing training and evaluation code fo… | 32 | 2061 | maintenance |
| NVlabs/alpamayo NVIDIA Alpamayo 1 is an open 10B-parameter reasoning vision-language-action (VLA) model for autonomous vehicles that pairs driving trajecto… | 59 | 2025 | maintenance |
| tinghuiz/SfMLearner SfMLearner is a TensorFlow implementation of the CVPR 2017 paper 'Unsupervised Learning of Depth and Ego-Motion from Video'. It trains mode… | 32 | 2016 | maintenance |
| KumarRobotics/msckf_vio A stereo visual-inertial odometry package implementing the Multi-State Constraint Kalman Filter (MSCKF) in C++ on ROS. It fuses synchronize… | 32 | 1979 | maintenance |
| Hitachi-Automotive-And-Industry-Lab/semantic-segmentation-editor A web-based labeling tool for creating AI training datasets from bitmap images (.jpg/.png) and point clouds (.pcd). Built as a Meteor app w… | 23 | 1976 | maintenance |
| dronekit/dronekit-python DroneKit-Python is a Python library for communicating with UAVs (drones) over the MAVLink protocol. It provides programmatic access to vehi… | 23 | 1943 | maintenance |
| karlkurzer/path_planner A C++ implementation of the Hybrid A* path planning algorithm for nonholonomic autonomous vehicles, developed for the KTH Research Concept … | 62 | 1919 | maintenance |
| TixiaoShan/LVI-SAM LVI-SAM is a tightly-coupled Lidar-Visual-Inertial Odometry and mapping system implemented in C++ on ROS, combining LIO-SAM and VINS-Mono a… | 32 | 1884 | maintenance |
| ANYbotics/elevation_mapping A ROS package for robot-centric elevation mapping of rough terrain, built for mobile and legged robots equipped with pose estimation and di… | 32 | 1878 | maintenance |
| xinshuoweng/AB3DMOT Official Python implementation of AB3DMOT, a simple real-time baseline for 3D multi-object tracking using oriented 3D bounding boxes from L… | 32 | 1846 | maintenance |
| sshaoshuai/PointRCNN PyTorch implementation of PointRCNN, a two-stage 3D object detector that generates 3D box proposals directly from raw LiDAR point clouds. I… | 32 | 1817 | maintenance |
| laboshinl/loam_velodyne A ROS implementation of LOAM (Laser Odometry and Mapping), a realtime method for state estimation and 3D mapping using a Velodyne 3D lidar.… | 32 | 1763 | maintenance |
| ethz-adrl/control-toolbox The Control Toolbox (CT) is an open-source C++ library for modelling dynamical systems, control, estimation, trajectory optimization and mo… | 23 | 1714 | maintenance |
| koide3/fast_gicp A C++ library of fast GICP-based point cloud registration algorithms, including multi-threaded GICP, voxelized GICP (VGICP), and CUDA-accel… | 37 | 1704 | maintenance |
| ethz-asl/voxblox Voxblox is a C++ volumetric mapping library for building Truncated Signed Distance Field (TSDF) and Euclidean Signed Distance Field (ESDF) … | 32 | 1673 | maintenance |
| charlesq34/frustum-pointnets Official TensorFlow code release for the CVPR 2018 paper 'Frustum PointNets for 3D Object Detection from RGB-D Data' by Stanford and Nuro r… | 32 | 1672 | maintenance |
| raulmur/ORB_SLAM ORB-SLAM is a real-time monocular SLAM system written in C++ that computes camera trajectories and sparse 3D reconstructions from a single … | 32 | 1633 | maintenance |
| hku-mars/loam_livox A robust, real-time LiDAR odometry and mapping (LOAM) package designed for Livox LiDARs with small field of view. It provides feature extra… | 23 | 1624 | maintenance |
| uzh-rpg/rpg_svo_pro_open SVO Pro is a C++ implementation of Semi-direct Visual Odometry from the Robotics and Perception Group at University of Zurich, supporting m… | 32 | 1613 | maintenance |
| cvg/nice-slam NICE-SLAM is a dense RGB-D SLAM system that combines neural implicit decoders with hierarchical grid-based scene representations, published… | 32 | 1600 | maintenance |
| Ewenwan/ORB_SLAM2_SSD_Semantic A C++ research project extending ORB_SLAM2 with dynamic object detection and semantic mapping. It combines SSD-based object detection (Mobi… | 32 | 1575 | maintenance |
| V2AI/Det3D Det3D is a PyTorch-based toolbox for 3D object detection from point clouds, offering implementations of models like PointPillars, SECOND, a… | 32 | 1562 | maintenance |
| ethz-asl/rotors_simulator RotorS is a Gazebo-based simulator for micro aerial vehicles (MAVs/UAVs) built on ROS, providing multirotor models like the AscTec Hummingb… | 32 | 1508 | maintenance |
| nv-tlabs/lift-splat-shoot PyTorch implementation of Lift-Splat-Shoot (ECCV 2020), an end-to-end model that converts images from arbitrary multi-camera rigs into a bi… | 32 | 1378 | maintenance |
| OKVIS OKVIS is a C++ implementation of keyframe-based visual-inertial SLAM/odometry using nonlinear optimization, from ETH Zurich research. It pr… | 32 | 1368 | maintenance |
| HKUST-Aerial-Robotics/VINS-Mobile VINS-Mobile is a real-time monocular visual-inertial state estimator that runs on iOS devices, providing high-accuracy visual-inertial odom… | 32 | 1367 | maintenance |
| wzzheng/TPVFormer TPVFormer is a CVPR 2023 research implementation of a tri-perspective view transformer for vision-based 3D semantic occupancy prediction, s… | 32 | 1366 | maintenance |
| maudzung/Complex-YOLOv4-Pytorch A PyTorch implementation of Complex-YOLO, a YOLOv4-based model for real-time 3D object detection on LiDAR point clouds. It supports distrib… | 32 | 1328 | maintenance |
| PRBonn/depth_clustering A fast and robust C++ library for segmenting point clouds from Velodyne LiDAR sensors (16, 32, and 64 beam) into objects using depth cluste… | 23 | 1314 | maintenance |
| hengli/camodocal CamOdoCal is a C++ library for automatic intrinsic and extrinsic calibration of a camera rig with multiple generic cameras and odometry. It… | 23 | 1303 | maintenance |
| TRI-ML/packnet-sfm Official PyTorch implementation of PackNet and related self-supervised monocular depth estimation methods from Toyota Research Institute's … | 23 | 1274 | maintenance |
| mit-acl/faster FASTER is a C++/ROS 3D trajectory planner for fast and safe navigation of UAVs and ground robots in unknown environments, published in IEEE… | 33 | 1251 | maintenance |
| utiasSTARS/pykitti pykitti is a minimal Python library for loading and working with the KITTI autonomous driving dataset, supporting raw and odometry benchmar… | 32 | 1245 | maintenance |
| DM-VIO DM-VIO is a C++ implementation of Delayed Marginalization Visual-Inertial Odometry, a direct sparse visual-inertial odometry method publish… | 32 | 1236 | maintenance |
| peng-zhihui/XUAN XUAN-Bike is an open-source self-driving (self-balancing) bicycle project by peng-zhihui, containing hardware design files including contro… | 32 | 5592 | experimental |
| NVlabs/VoxFormer Official PyTorch implementation of VoxFormer, a CVPR 2023 highlight paper presenting a sparse voxel transformer for camera-based 3D semanti… | 31 | 1209 | maintenance |
| aitorzip/DeepGTAV DeepGTAV is a C++ plugin for Grand Theft Auto V that converts the game into a vision-based self-driving car research environment. It expose… | 32 | 1192 | maintenance |
| flow-project/flow Flow is a computational framework for deep reinforcement learning and control experiments in traffic microsimulation, built on top of the S… | 23 | 1192 | maintenance |
| APRIL-ZJU/lidar_IMU_calib LI-Calib is a C++/ROS toolkit that calibrates the 6DoF rigid transformation and time offset between a 3D LiDAR and an IMU using continuous-… | 32 | 1188 | maintenance |
| HKUST-Aerial-Robotics/GVINS GVINS is a C++/ROS nonlinear optimization system that tightly fuses GNSS raw measurements (pseudorange and Doppler) with visual and inertia… | 32 | 1165 | maintenance |
| HKUST-Aerial-Robotics/Teach-Repeat-Replan Teach-Repeat-Replan is a complete C++/ROS system enabling aggressive autonomous drone flight in complex environments. It converts a manuall… | 32 | 1163 | maintenance |
| kuixu/kitti_object_vis A Python toolkit for transforming and visualizing the KITTI Object Detection dataset, including volumetric LiDAR point clouds, birdview pro… | 32 | 1158 | maintenance |
| huawei-noah/SMARTS SMARTS is a simulation platform for multi-agent reinforcement learning research focused on autonomous driving, emphasizing realistic and di… | 23 | 1135 | maintenance |
| maudzung/SFA3D A PyTorch implementation of SFA3D, a fast and accurate anchor-free 3D object detection model for LiDAR point clouds, trained and evaluated … | 32 | 1129 | maintenance |
| linorobot/linorobot Linorobot is a suite of open-source ROS-compatible autonomous ground robots (2WD, 4WD, Ackermann steering, mecanum drive) with Teensy-based… | 23 | 1112 | maintenance |
| ethz-asl/ethzasl_msf ethzasl_msf is a modular C++ framework for multi-sensor fusion based on an Extended Kalman Filter (EKF), with time delay compensation for s… | 57 | 1105 | maintenance |