GitHub repository
An efficient LiDAR-based semantic SLAM system that builds 3D semantic maps from laser scans.
What is GitHub repository?
SuMa++ is an open-source LiDAR-based semantic SLAM system that builds dense, semantically annotated 3D maps from laser range scans. It combines geometric mapping with deep learning-based semantic segmentation to enable robots to understand their environment beyond just geometry, recognizing objects like cars and buildings. The system is designed for real-time performance and is compatible with the KITTI dataset format.
Robotics researchers and engineers working on autonomous navigation, 3D mapping, and semantic perception using LiDAR sensors. It is particularly relevant for those developing self-driving cars, drones, or mobile robots that require environment understanding.
Developers choose SuMa++ for its efficient integration of semantic segmentation into a proven LiDAR SLAM pipeline, offering real-time semantic mapping without heavy computational overhead. Its compatibility with KITTI and support for GPU acceleration via TensorRT make it a practical tool for prototyping and research in semantic robotics.
Overview
SuMa++: Efficient LiDAR-based Semantic SLAM (Chen et al IROS 2019)
Use Cases
Best For
- Building semantic maps for autonomous vehicle navigation
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