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FAST-LIO
Fast LiDAR-inertial odometry for robots and UAVs
GPL-2.0
ABOUT
LiDAR SLAM is often too heavy for onboard CPUs. FAST-LIO is a tight LiDAR-IMU Kalman filter that runs in real time on spinning and solid-state LiDARs so mobile robots get pose without a slow factor graph.
INTEGRATION GUIDE
1. Run LiDAR-inertial odometry on a UAV or ground robot in ROS
2. Localize with spinning Velodyne, Livox, or Ouster LiDAR plus IMU
3. Map indoor and outdoor environments while estimating pose onboard
4. Compare FAST-LIO against heavier LIO backends on the same bag
TAGS
c++roboticslidarslamimuodometryroslocalization