{"id":47425421,"url":"https://github.com/93won/lidar_odometry","last_synced_at":"2026-04-05T04:01:24.941Z","repository":{"id":316718139,"uuid":"1064546738","full_name":"93won/lidar_odometry","owner":"93won","description":"Fast LiDAR SLAM","archived":false,"fork":false,"pushed_at":"2025-12-24T01:16:09.000Z","size":26353,"stargazers_count":452,"open_issues_count":0,"forks_count":67,"subscribers_count":7,"default_branch":"main","last_synced_at":"2025-12-25T14:21:53.213Z","etag":null,"topics":["lidar","odometry","slam"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/93won.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null,"notice":null,"maintainers":null,"copyright":null,"agents":null,"dco":null,"cla":null}},"created_at":"2025-09-26T07:36:39.000Z","updated_at":"2025-12-25T09:49:53.000Z","dependencies_parsed_at":"2025-10-31T04:19:42.251Z","dependency_job_id":null,"html_url":"https://github.com/93won/lidar_odometry","commit_stats":null,"previous_names":["93won/lidar_odometry"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/93won/lidar_odometry","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/93won%2Flidar_odometry","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/93won%2Flidar_odometry/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/93won%2Flidar_odometry/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/93won%2Flidar_odometry/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/93won","download_url":"https://codeload.github.com/93won/lidar_odometry/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/93won%2Flidar_odometry/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":31423887,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-04-05T02:22:46.605Z","status":"ssl_error","status_checked_at":"2026-04-05T02:22:33.263Z","response_time":75,"last_error":"SSL_read: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["lidar","odometry","slam"],"created_at":"2026-03-21T23:00:46.606Z","updated_at":"2026-04-05T04:01:24.936Z","avatar_url":"https://github.com/93won.png","language":"C++","funding_links":[],"categories":["C++"],"sub_categories":[],"readme":"# Fast LiDAR SLAM\n\nA high-performance real-time LiDAR SLAM system (~400 FPS on KITTI).\n\n\n[![Demo](https://img.youtube.com/vi/eBdYP55IMEY/0.jpg)](https://www.youtube.com/watch?v=eBdYP55IMEY)\n\n## Features\n\n- 2-Level hierarchical voxel map with precomputed surfels\n- Point-to-plane ICP with Gauss-Newton optimization on Lie manifold\n- Adaptive M-estimator for robust estimation (PKO)\n- Loop closure detection with LiDAR Iris\n- **Configurable correspondence method**: Surfel-based (O(1) lookup) or KDTree-based (dynamic plane fitting)\n\n### Correspondence Method Selection\n\n```yaml\nuse_surfel_correspondence: false  # true: O(1) surfel lookup, false: KDTree + plane fitting\n```\n\n- **Surfel-based (default)**: Pre-computed surfels enable O(1) correspondence lookup. Best for outdoor environments with large planar structures.\n- **KDTree-based**: Dynamic plane fitting at query time. Recommended for unstructured environments or narrow indoor spaces where pre-computed surfels may not represent local geometry accurately.\n\n## Build\n\n```bash\ngit clone https://github.com/93won/lidar_odometry\ncd lidar_odometry\n./build.sh\n```\n\n## Run\n\nBefore run algorithm on a test data do not foget update paths in config yaml files\n\n```bash\n# KITTI dataset\n./build/kitti_lidar_odometry config/kitti.yaml\n\n# MID360 / PLY files\n./build/lidar_odometry config/mid360.yaml\n```\n\n## Sample Data\n\n- [KITTI Sequence 07](https://drive.google.com/drive/folders/13YL4H9EIfL8oq1bVp0Csm0B7cMF3wT_0?usp=sharing)\n- [MID360 Dataset](https://drive.google.com/file/d/1psjoqrX9CtMvNCUskczUlsmaysh823CO/view?usp=sharing)\n\n## ROS Wrapper\n\nhttps://github.com/93won/lidar_odometry_ros_wrapper\n\n## References\n\n```bibtex\n@article{choi2025surfel,\n  title={Surfel-LIO: Fast LiDAR-Inertial Odometry with Pre-computed Surfels and Hierarchical Z-order Voxel Hashing},\n  author={Choi, Seungwon and Park, Dong-Gyu and Hwang, Seo-Yeon and Kim, Tae-Wan},\n  journal={arXiv preprint arXiv:2512.03397},\n  year={2025}\n}\n\n@article{choi2025pko,\n  author={Choi, Seungwon and Kim, Tae-Wan},\n  journal={IEEE Robotics and Automation Letters}, \n  title={Probabilistic Kernel Optimization for Robust State Estimation}, \n  year={2025},\n  volume={10},\n  number={3},\n  pages={2998-3005},\n  doi={10.1109/LRA.2025.3536294}\n}\n\n@inproceedings{wang2020iris,\n  title={LiDAR Iris for Loop-Closure Detection},\n  author={Wang, Ying and Sun, Zezhou and Xu, Cheng-Zhong and Sarma, Sanjay and Yang, Jian and Kong, Hui},\n  booktitle={IROS},\n  year={2020}\n}\n```\n\n## License\n\nMIT License\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2F93won%2Flidar_odometry","html_url":"https://awesome.ecosyste.ms/projects/github.com%2F93won%2Flidar_odometry","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2F93won%2Flidar_odometry/lists"}