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FAST-LIO

Description: Enhanced version of FAST-LIO (Fast LiDAR-Inertial Odometry) which is a computationally efficient and robust LiDAR-inertial odometry package. It fuses LiDAR feature points with IMU data using a tightly-coupled iterated extended Kalman filter to allow robust navigation in fast-motion, noisy or cluttered environments where degeneration occurs.

  • Primary Functionality: Single-robot SLAM.
  • Target: ROS-enabled robots
  • Task: T5.1
  • Responsible: Micael Couceiro