Direct LiDAR-Inertial Odometry (DLIO)
- Software
- Navigation and mapping
- Library
DLIO is a lightweight LiDAR-inertial odometry algorithm that estimates motion by fusing LiDAR point clouds with IMU data, using continuous-time motion correction.
- Stale
Made by vectr-ucla.
Source on GitHub: github.com/vectr-ucla/direct_lidar_inertial_odometry (opens in a new tab). Facts read at commit fc8d183 (opens in a new tab).
Licenses
- Code
- MIT (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (MIT) at commit fc8d183 (opens in a new tab), on 22 Oct 2026.
- Commercial use
- Yes
Labels
- StaleNo commit in 12 months: the newest is from 8 Nov 2024.
What it does
- Builds continuous-time trajectories with a coarse-to-fine approach to correct motion distortion in LiDAR scans.
- Supports Ouster, Velodyne, Hesai, and Livox LiDARs with sensor_msgs::PointCloud2 and sensor_msgs::Imu inputs.
- Relies on accurate LiDAR/IMU extrinsics and IMU intrinsics in cfg/dlio.yaml for best performance.
- Requires LiDAR and IMU to be properly time-synchronized, otherwise it will not work.
- Runs on ROS1 by default, with a ROS2 port available on the feature/ros2 branch.
- Provides a service to save the generated map as a .pcd file.
Written by Robotheca from the project's README (opens in a new tab) at commit fc8d183.
Getting started
- Difficulty
- Advanced
- How to start
- The project's README (opens in a new tab)
Maintenance
- Status
- Stale: no commit in 12 months
- Newest commit
- 8 Nov 2024 on master
- Latest release
- v1.1.1 (28 Jun 2023)
Checked on GitHub on 22 Oct 2026.
Links
Robots that can run it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.