Alternatives and similar repositories for NDD

Users that are interested in NDD are comparing it to the libraries listed below

• donghwijung / MuNES

  View on GitHub
  MuNES: Multifloor Navigation Including Elevators and Stairs
  ☆36Jul 4, 2024Updated last year
• YangSiri / OR-LIM

  View on GitHub
  OR-LIM: Observability-aware robust LiDAR-Inertial-Mapping under High Dynamic Sensor Motion
  ☆70Jan 16, 2026Updated 3 weeks ago
• ShiPC-AI / Occupied-Place-Description

  View on GitHub
  [ISPRS JP&RS 2023] A Fast LiDAR Place Recognition and Localization Method by Fusing Local and Global Search
  ☆39Feb 4, 2025Updated last year
• Grandzxw / MMF-LVINS

  View on GitHub
  [TIM 2024] Multi-Modal Features and Accurate Place Recognition with Robust Optimization for Lidar-Visual-Inertial SLAM
  ☆81Apr 9, 2025Updated 10 months ago
• SLAMWang / MGN-GICP

  View on GitHub
  ☆11Mar 10, 2023Updated 2 years ago
• SlamCabbage / NDTMC

  View on GitHub
  [IROS 2024] A 3D Global Descriptor For Loop Closure Detection. NDT-Map-Code.
  ☆207Jan 6, 2025Updated last year
• peterWon / Ct-LVI

  View on GitHub
  Implementation of our paper "Ct-LVI: A Framework Towards Continuous-time Laser-Visual-Inertial Odometry and Mapping" T-CSVT 2024
  ☆39Nov 25, 2023Updated 2 years ago
• lewisjiang / puma-lio

  View on GitHub
  [IROS'22] Official code repo for "A LiDAR-inertial Odometry with Principled Uncertainty Modeling"
  ☆84Jan 5, 2023Updated 3 years ago
• ChadLin9596 / ncrl_lio

  View on GitHub
  [Sensors 2021] RTLIO: Real-Time LiDAR-Inertial Odometry and Mapping for UAVs
  ☆14Sep 14, 2021Updated 4 years ago
• MetaSLAM / AdaFusion

  View on GitHub
  AdaFusion: Visual-LiDAR Fusion with Adaptive Weights for Place Recognition
  ☆48Nov 17, 2022Updated 3 years ago
• lewisjiang / contour-context

  View on GitHub
  [ICRA'23] Official code repo for "Contour Context: Abstract Structural Distribution for 3D LiDAR Loop Detection and Metric Pose Estimatio…
  ☆203Mar 6, 2024Updated last year
• shuliufeng / LiDAR-IMU-GNSS-SLAM-

  View on GitHub
  A Real-time and Fast LiDAR–IMU-GNSS SLAM System with Point Cloud Semantic Graph Descriptor Loop Closure Detection
  ☆17May 12, 2023Updated 2 years ago
• kanghuazhao / slim

  View on GitHub
  Semantic base LiDAR-inertial Mapping
  ☆19Mar 2, 2023Updated 2 years ago
• robot-learning-freiburg / PADLoC

  View on GitHub
  [RAL'23] LiDAR-Based Deep Loop Closure Detection and Registration using Panoptic Attention
  ☆62Dec 12, 2024Updated last year
• SenseRoboticsLab / CURL

  View on GitHub
  CURL: Continuous, Ultra-compact Representation for LiDAR
  ☆73Oct 11, 2023Updated 2 years ago
• MIT-SPARK / Kimera-Multi-LCD

  View on GitHub
  ☆36Aug 25, 2024Updated last year
• FuTaimeng / auto_calibration

  View on GitHub
  ☆36Aug 6, 2022Updated 3 years ago
• zhuhongwei123 / Point-Cloud-Dynamic-Point-Removal-Framework

  View on GitHub
  ☆20May 21, 2025Updated 8 months ago
• lus6-Jenny / RING

  View on GitHub
  [IEEE T-RO 2023] Source code of RING and RING++ for loop closure detection in LiDAR SLAM.
  ☆214Apr 14, 2024Updated last year
• pkzhou / LGM-SLAM

  View on GitHub
  The open source code of the paper: Visual Localization and Mapping Leveraging the Constraints of Local Ground Manifolds
  ☆74Jul 13, 2022Updated 3 years ago
• perception-and-robotics-group / CURL

  View on GitHub
  CURL: Continuous, Ultra-compact Representation for LiDAR
  ☆54Oct 11, 2023Updated 2 years ago
• arpg / bo_icp

  View on GitHub
  ☆17Jul 5, 2023Updated 2 years ago
• Dysonsun / lidar_camera_calibration

  View on GitHub
  This repository is show how to calibrate camera and lidar, inlude camera intrinsics、camera and lidar`s extrinsics
  ☆10Nov 28, 2021Updated 4 years ago
• utiasASRL / steam_icp

  View on GitHub
  Continuous-time lidar, radar, lidar-inertial, and radar-inertial odometry
  ☆244Feb 3, 2026Updated last week
• chengwei0427 / hm-lio

  View on GitHub
  A Hash-map based Lidar-Inertial Odometry (A simple reproduction of fastlio 1.0 with Hash-map).
  ☆103Jul 27, 2023Updated 2 years ago
• Stan994265 / mVIL-Fusion

  View on GitHub
  Monocular Visual-Inertial-LiDAR Simultaneous Localization and Mapping in Challenging Environments
  ☆99Dec 8, 2022Updated 3 years ago
• url-kaist / ERASOR2

  View on GitHub
  [RSS'23] The official Implementation of "ERASOR2: Instance-Aware Robust 3D Mapping of the Static World in Dynamic Scenes"
  ☆179Jan 14, 2024Updated 2 years ago
• WKunFeng / SEVIO

  View on GitHub
  Stereo Event-based Visual-Inertial Odometry
  ☆19Mar 16, 2023Updated 2 years ago
• TIERS / tiers-lidars-dataset

  View on GitHub
  Multi-modal multi-lidar dataset
  ☆256Feb 18, 2023Updated 2 years ago
• StephLin / LIO-SEGMOT

  View on GitHub
  LiDAR-Inertial Odometry via Simultaneous Ego-motion Estimation and Multiple Object Tracking (ICRA 2023)
  ☆259Dec 7, 2025Updated 2 months ago
• rvp-group / mdslam

  View on GitHub
  MD-SLAM: Multi-cue Direct SLAM. Implements the first photometric LiDAR SLAM pipeline, that works withouth any explicit geometrical assump…
  ☆159Jan 28, 2024Updated 2 years ago
• Jarrome / Uni-Fusion

  View on GitHub
  [T-RO 2024] Uni-Fusion: Universal Continuous Mapping
  ☆104Jun 26, 2024Updated last year
• idsia-robotics / Collaborative-Monte-Carlo-Localization

  View on GitHub
  Collaborative MCL
  ☆20Sep 3, 2025Updated 5 months ago
• nubot-nudt / LCR-Net

  View on GitHub
  [TRO] Fast and Accurate Deep Loop Closing and Relocalization for Reliable LiDAR SLAM
  ☆112Dec 5, 2024Updated last year
• Lab-of-AI-and-Robotics / NFC_relocalization

  View on GitHub
  ☆10Sep 12, 2023Updated 2 years ago
• jiayi-ma / LPM-GC

  View on GitHub
  Code for "Loop Closure Detection via Locality Preserving Matching with Global Consensus"
  ☆12Jul 18, 2022Updated 3 years ago
• HKUSTGZ-IADC / gmmloc

  View on GitHub
  ☆12Jul 7, 2023Updated 2 years ago
• mergarsal / RedCertRPpPrior

  View on GitHub
  Certifiable solvers for the relative pose problem (RPp) with known gravity vector
  ☆13Feb 16, 2023Updated 2 years ago
• TIERS / tiers-lidars-dataset-enhanced

  View on GitHub
  ☆171Nov 1, 2022Updated 3 years ago