Rlease

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. We use Ceres-Solver for scan matching to avoid complicated differential geometry derivation. The codes are well structured and streamlined to improve readability and extendability.