FasterLIO-PPF

This is the code repo of integrating PPF (Plane Pre-Fitting and Skeleton Tracking) into FasterLIO.

The PPF is introduced by our paper "LIO-PPF: Fast LiDAR-Inertial Odometry via Incremental Plane Pre-Fitting and Skeleton Tracking" (IROS 2023).

Quick Start

catkin_make
source devel/setup.bash
roslaunch faster_lio mapping_velodyne.launch

In another terminal:

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

For details about building and running, please refer to FasterLIO.

LIO-SAM with PPF

If you are looking for LIO-SAM with PPF, please check out LIO-PPF.

Citation

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

@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}
}