https://github.com/xingyuuchen/LIO-PPF

[IROS 2023] Fast LiDAR-Inertial Odometry via Incremental Plane Pre-Fitting and Skeleton Tracking
https://github.com/xingyuuchen/LIO-PPF

3d-mapping 3d-reconstruction iros iros2023 lidar lidar-inertial-odometry lidar-odometry lidar-slam sensor-fusion slam

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[IROS 2023] Fast LiDAR-Inertial Odometry via Incremental Plane Pre-Fitting and Skeleton Tracking

• Host: GitHub
• URL: https://github.com/xingyuuchen/LIO-PPF
• Owner: xingyuuchen
• License: mit
• Created: 2023-02-06T14:12:03.000Z (over 1 year ago)
• Default Branch: master
• Last Pushed: 2024-03-23T13:35:55.000Z (4 months ago)
• Last Synced: 2024-03-23T14:25:51.520Z (4 months ago)
• Topics: 3d-mapping, 3d-reconstruction, iros, iros2023, lidar, lidar-inertial-odometry, lidar-odometry, lidar-slam, sensor-fusion, slam
• Language: C++
• Homepage:
• Size: 128 MB
• Stars: 164
• Watchers: 23
• Forks: 17
• Open Issues: 1
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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• awesome-stars - xingyuuchen/LIO-PPF - [IROS 2023] Fast LiDAR-Inertial Odometry via Incremental Plane Pre-Fitting and Skeleton Tracking (C++)

README

        
# LIO-PPF

The official implementation of the paper "[Fast LiDAR-Inertial Odometry via Incremental Plane Pre-Fitting and Skeleton Tracking](https://ieeexplore.ieee.org/abstract/document/10341524/)" (**IROS 2023**)

We introduce **LIO-PPF**, a plane pre-fitting and skeleton tracking technique, that can ease the computation of state-of-the-art LIO systems, e.g. LIO-SAM.

Please refer to this 

In LIO-PPF, we track mainly the *basic skeleton of the 3D scene*, the planes of which are not fitted individually for each LiDAR scan, let alone for each LiDAR point. However, they are updated incrementally as the scene gradually `flows'.

By contrast, LIO-PPF can consume only 36% of the original local map size to achieve up to 4x faster residual computing and 1.92x overall FPS, while maintaining the same level of accuracy.

## Quick Start

```bash

catkin_make

source devel/setup.bash

roslaunch lio_sam run.launch

```

In another terminal:

```bash

rosbag play /path/to/your/bag/file

```

For details about building and running, please refer to [LIO-SAM](https://github.com/TixiaoShan/LIO-SAM).

## FasterLIO with PPF

If you are looking for FasterLIO with PPF, please check out [faster-lio-ppf](https://github.com/xingyuuchen/faster-lio-ppf).

## Citation

If you find our work useful or interesting, please consider citing our paper:

```latex

@inproceedings{chen2023lio,

  title={LIO-PPF: Fast LiDAR-Inertial Odometry via Incremental Plane Pre-Fitting and Skeleton Tracking},

  author={Chen, Xingyu and

        Wu, Peixi and

        Li, Ge and

        Li, Thomas H},

  booktitle={2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},

  pages={1458--1465},

  year={2023},

  organization={IEEE}

}

```