LIO-PPF

The official implementation of the paper "Fast LiDAR-Inertial Odometry via Incremental Plane Pre-Fitting and Skeleton Tracking" (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

catkin_make
source devel/setup.bash
roslaunch lio_sam run.launch

In another terminal:

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

For details about building and running, please refer to LIO-SAM.

FasterLIO with PPF

If you are looking for FasterLIO with PPF, please check out faster-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}
}