LOAM_Livox: A robust LiDAR Odometry and Mapping (LOAM) package for Livox-LiDAR

Jiarong Lin, Fu Zhang
Jul 12, 2020
PDF Cite Code on Github (★ 1.2K) Video-1 Video-2 Hardware-Design
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1. Introduction

Loam-Livox is a robust, low drift, and real time odometry and mapping package for Livox LiDARs, significant low cost and high performance LiDARs that are designed for massive industrials uses. Our package address many key issues: feature extraction and selection in a very limited FOV, robust outliers rejection, moving objects filtering, and motion distortion compensation. In addition, we also integrate other features like parallelable pipeline, point cloud management using cells and maps, loop closure, utilities for maps saving and reload, etc. To know more about the details, please refer to our related paper:)

Our related paper: our related papers are now available on arxiv:

  1. Loam_livox: A fast, robust, high-precision LiDAR odometry and mapping package for LiDARs of small FoV
  2. A fast, complete, point cloud based loop closure for LiDAR odometry and mapping

Our related video: our related videos are now available on YouTube (click below images to open):

video video

Our mapping results reconstructed with Livox-mid40 LiDAR:

loam_livox LiDAR SLAM 3D reconstruction
Jiarong Lin
Jiarong Lin
Ph.D. candidate in Robotics🤖

My research interests include Simultaneous localization and mapping (SLAM), Multi-sensor (i.e., LiDAR-Inertial-Visual) Fusion, and 3D reconstruction. My popular works include: R3LIVE, FAST-LIO, loam-livox, R2LIVE, and ImMesh🆕.