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ICRA 2021 - Robust Place Recognition using an Imaging Lidar
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.
Husky-LIO-SAM
LIO-SAM added trajectory save function to directly utilize evo tool
ROS 2 Packages for Testing LIO-SAM on a Robotic Vehicle with 3D LIDAR and 9-Axis IMU