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LiGuard: A Streamlined Open-Source Framework for Rapid and Interactive LiDAR Research
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DOI：10.1109/TIV.2026.3688927.png)
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Abstract
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There is a growing interest in the development of lidar-based autonomous mobility and Intelligent Transportation Systems (ITS). To operate and research on lidar data, researchers often develop code specific to application niche. This approach leads to duplication of efforts across studies that, in many cases, share multiple methodological steps such as data input/output (I/O), pre/post processing, and common algorithms in multi-stage solutions. Moreover, slight changes in data, algorithms, and/or research focus may force major revisions in the code. To address these challenges, we present <monospace xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">LiGuard</monospace>, an open-source software framework that allows researchers to: 1) rapidly develop code for their lidar-based projects by providing built-in support for data I/O, pre/post processing, and commonly used algorithms, 2) interactively add/remove/reorder custom algorithms and adjust their parameters, and 3) visualize results for classification, detection, segmentation, and tracking tasks. Moreover, because it creates all the code files in structured directories, it allows easy sharing of entire projects or even the individual components to be reused by other researchers. The effectiveness of <monospace xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">LiGuard</monospace> is demonstrated via case studies.
Keywords:
Lidar
camera
data processing
data visualization
open-source software
traffic safety
autonomous vehicles
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