lio topic
LIO-SAM_based_relocalization
A simple system that can relocalize a robot on a built map is developed in this system. The system is based on LIO-SAM.
LIO_SAM_6AXIS
LIO_SAM for 6-axis IMU and GNSS.
FAST_LIO_LC
The tight integration of FAST-LIO with Radius-Search-based loop closure module.
Lidar_IMU_Localization
Lidar-IMU Localization System with Prior Map Constraint and Lio Constraint
Robust_LIO_Localization
Lidar localization system with prior map constraint and lio constraint based on GTSAM
LIO-SAM-GPU-ScanToMapOpt
A CUDA reimplementation of the line/plane odometry of LIO-SAM. A point cloud hash map (inspired by iVox of Faster-LIO) on GPU is used to accelerate 5-neighbour KNN search.
MA-LIO
Asynchronous Multiple LiDAR-Inertial Odometry using Point-wise Inter-LiDAR Uncertainty Propagation
GLIO
GLIO: Tightly-Coupled GNSS/LiDAR/IMU Integration for Continuous and Drift-free State Estimation
mini-pyllio
A very minimal but working Python only implementation for loosely-coupled LiDAR-Inertial odometry for education purpose.