Personal learning project — similar to Fast-LIO2, based on Eigen library, implementing lidar-inertial odometry using:
- Iterated Right-Invariant Kalman Filter (IRIKF) — removed due to unstable implementation
- Iterated Error State Kalman Filter (IESKF, under development)
⚠️ Warning: Bad coding skills. This project is messy. Use with caution.
| Faster LIO | I-RIKF |
|---|---|
 |
 |
Map:
Pangolin Viewer:
- Add
time_unitadaptation for Velodyne - Save trajectory and map
- Implement iterated version of Right-Invariant Kalman Filter
- Add Pangolin support, remove RViz (RViz optional)
- Add IKdtree for improved real-time performance (some code cleaning pending)
- Add loop closure to improve global consistency (branch
dev/loop) - Add extrinsic estimation (probably not doing this)
A big thanks to mengkai98/ieskf_slam for the detailed tutorial and excellent code — this project is built based on his work.