ethz-asl/segmap

Health v2 · maintenance only

Flags: no_releases

Adoption not part of the score

1096 stars · 389 forks observed · 2026-08-28

What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-30, confidence not recorded

SegMap is a C++ library and ROS package providing a segment-based 3D map representation for robot localization, environment reconstruction, and semantic extraction from LiDAR point clouds. It includes a 3D CNN encoder-decoder for data-driven segment descriptors, LiDAR odometry, and single/multi-robot SLAM back-ends.

Use cases

• build a 3D segment-based map from LiDAR data for a mobile robot
• localize a robot within a previously mapped 3D environment
• perform place recognition in 3D point clouds
• extract semantic information from segmented LiDAR scans
• run multi-robot SLAM with shared segment-based maps
• train and evaluate neural network descriptors for 3D segments

When to choose

• you need segment-based mapping and localization for LiDAR-equipped robots
• you want research-grade SLAM with learned 3D segment descriptors
• your project already uses ROS and catkin on Ubuntu

When to avoid

• you need a production-supported, actively maintained SLAM stack
• you work outside ROS/Linux or with camera-only data
• you need a simple drop-in library without deep learning dependencies like TensorFlow

Facets

library · maturity maintenance

machine-learning computer-vision simulation graphics sdk robotics autonomous-vehicles machine-learning computer-vision cpp python slam lidar point-cloud segmentation place-recognition localization mapping ros 3d-cnn research-code algorithms linux

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markdown · JSON · MCP: product_card(name="ethz-asl/segmap")