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LIO-SAM
Tightly coupled LiDAR-inertial smoothing and mapping
BSD-3-Clause
ABOUT
Loosely coupled LiDAR odometry drifts and ignores IMU constraints. LIO-SAM is a factor-graph LIO with IMU preintegration, GPS, and loop closure so ground robots build consistent maps in ROS.
INTEGRATION GUIDE
1. Build a LiDAR map of a campus or warehouse with IMU and GPS factors
2. Run loop closure on a ground robot to correct long-term drift
3. Fuse GPS with LiDAR-inertial odometry for outdoor surveying
4. Replay LIO-SAM on recorded bags to compare mapping quality
TAGS
c++roboticslidarslamimumappingroslocalization