Autonomous Driving Open Source Projects

Python sample codes and textbook for robotics algorithms.

An open autonomous driving platform

Open-source simulator for autonomous driving research.

Autoware - the world's leading open-source software project for autonomous driving

Easy-to-use image segmentation library with awesome pre-trained model zoo, supporting wide-range of practical tasks in Semantic Segmentation, Interactive Segmentation, Panoptic Segmentation, Image Matting, 3D Segmentation, etc.

OpenPCDet Toolbox for LiDAR-based 3D Object Detection.

[CVPR 2023 Best Paper Award] Planning-oriented Autonomous Driving

[ECCV 2022] This is the official implementation of BEVFormer, a camera-only framework for autonomous driving perception, e.g., 3D object detection and semantic map segmentation.

Tooling for professional robotic development in C++ and Python with a touch of ROS, autonomous driving and aerospace.

[IEEE T-PAMI 2024] All you need for End-to-end Autonomous Driving

Waymo Open Dataset

A collection of environments for autonomous driving and tactical decision-making tasks

OpenCalib: A Multi-sensor Calibration Toolbox for Autonomous Driving

Papers and Datasets about Point Cloud.

Apollo notes (Apollo学习笔记) - Apollo learning notes for beginners.

Scenarios, tutorials and demos for Autonomous Driving

You Only Look Once for Panopitic Driving Perception.（MIR2022）

Collect some World Models for Autonomous Driving (and Robotic, etc.) papers.

:zap: The Mobile Robot Programming Toolkit (MRPT)

GAAS is an open-source program designed for fully autonomous VTOL(a.k.a flying cars) and drones. GAAS stands for Generalized Autonomy Aviation System.

Ultra Fast Structure-aware Deep Lane Detection (ECCV 2020)

A curated list of radar datasets, detection, tracking and fusion

🚀🚀🚀 A collection of some awesome public YOLO object detection series projects.

A selection of state-of-the-art research materials on trajectory prediction

Python sample codes and documents about Autonomous vehicle control algorithm. This project can be used as a technical guide book to study the algorithms and the software architectures for beginners.

[PAMI'23] TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving; [CVPR'21] Multi-Modal Fusion Transformer for End-to-End Autonomous Driving

World's first general purpose 3D object detection codebse.

[ICLR'23 Spotlight & ECCV'24 & IJCV'24] MapTR: Structured Modeling and Learning for Online Vectorized HD Map Construction

PointCNN: Convolution On X-Transformed Points (NeurIPS 2018)

[IEEE T-PAMI 2023] Awesome BEV perception research and cookbook for all level audience in autonomous diriving

[ICCV 2023 & ICLR 2026] VAD: Vectorized Scene Representation for Efficient Autonomous Driving

[ECCV 2024 Oral] DriveLM: Driving with Graph Visual Question Answering

😎 Awesome LIDAR list. The list includes LIDAR manufacturers, datasets, point cloud-processing algorithms, point cloud frameworks and simulators.

A TensorFlow implementation of this Nvidia paper: https://arxiv.org/pdf/1604.07316.pdf with some changes

Official PyTorch implementation of VoxFormer [CVPR 2023 Highlight]

A generalized framework for prototyping full-stack cooperative driving automation applications under CARLA+SUMO.

3D Point Cloud Annotation Platform for Autonomous Driving

Scalable Multi-Agent RL Training School for Autonomous Driving

Semantic and Instance Segmentation of LiDAR point clouds for autonomous driving

📦 eCAL - enhanced Communication Abstraction Layer. A high performance publish-subscribe, client-server cross-plattform middleware.

The devkit of the nuPlan dataset.

A Kitti Road Segmentation model implemented in tensorflow.

Code for a series of work in LiDAR perception, including SST (CVPR 22), FSD (NeurIPS 22), FSD++ (TPAMI 23), FSDv2, and CTRL (ICCV 23, oral).

VoxelNeXt: Fully Sparse VoxelNet for 3D Object Detection and Tracking (CVPR 2023)

[ICRA 2022] An opensource framework for cooperative detection. Official implementation for OPV2V.

Fast-BEV: A Fast and Strong Bird’s-Eye View Perception Baseline

PyTorch implementation of DeepLabV3, trained on the Cityscapes dataset.

3D Bounding Box Annotation Tool (3D-BAT) Point cloud and Image Labeling

Official PyTorch implementation of FB-BEV & FB-OCC - Forward-backward view transformation for vision-centric autonomous driving perception

[CVPR 2024 Highlight] GenAD: Generalized Predictive Model for Autonomous Driving

[CVPR 2023] Query-Centric Trajectory Prediction

Software for the AutoRally platform

SMOKE: Single-Stage Monocular 3D Object Detection via Keypoint Estimation

国内首个占据栅格网络全栈课程《从BEV到Occupancy Network，算法原理与工程实践》，包含端侧部署。Surrounding Semantic Occupancy Perception Course for Autonomous Driving (docs, ppt and source code) 在线课程主页：http://111.229.117.200:8100/ (作者独立搭建)

A deep neural network that learns to drive in video games

A list of references on lidar point cloud processing for autonomous driving

LSD (LiDAR SLAM & Detection) is an open source perception architecture for autonomous vehicle/robotic

An awesome list of self-driving cars

Collections of Apollo Platform Software