FAST-LIO2
- Software
- Navigation and mapping
- Library
FAST-LIO2 is a LiDAR-inertial odometry package that fuses LiDAR points with IMU data for robot navigation in fast-motion or cluttered environments.
- Stale
Made by MaRS Lab, The University of Hong Kong, Hong Kong SAR China (checked on github.com/hku-mars (opens in a new tab)).
Source on GitHub: github.com/hku-mars/FAST_LIO (opens in a new tab). Facts read at commit 7cc4175 (opens in a new tab).
Licenses
- Code
- GPL-2.0-only (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (GPL-2.0-only) at commit 7cc4175 (opens in a new tab), on 16 Oct 2026.
- Commercial use
- Yes
Copyleft: Modified source must be published.
Labels
- StaleNo commit in 12 months: the newest is from 23 Jul 2024.
What it does
- Fuses LiDAR feature points with IMU data using a tightly-coupled iterated extended Kalman filter.
- Runs direct scan-to-map odometry on raw LiDAR points, with feature extraction optional.
- Supports spinning LiDARs such as Velodyne and Ouster, and solid-state Livox LiDARs such as Avia, Horizon and MID-70.
- Supports external IMUs and can save the accumulated scans as a PCD file.
- Includes launch files and examples for Livox Avia, Velodyne HDL-32E rosbags, and the MARSIM simulator.
Written by Robotheca from the project's README (opens in a new tab) at commit 7cc4175.
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
- 23 Jul 2024 on main
- Latest release
- None published on GitHub
Checked on GitHub on 16 Oct 2026.
Links
Robots on Robotheca that use 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.