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qdLMF / 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. Run on Jetson Orin NX 8GB.

Repository from Github https://github.comqdLMF/LIO-SAM-GPU-ScanToMapOptRepository from Github https://github.comqdLMF/LIO-SAM-GPU-ScanToMapOpt

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