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LIO-SAM

  • Software
  • Navigation and mapping
  • Library

A real-time lidar-inertial odometry package that fuses lidar scans, IMU data and optional GPS through factor-graph smoothing to estimate pose and build maps.

  • Stale

Source on GitHub: github.com/TixiaoShan/LIO-SAM (opens in a new tab). Facts read at commit 0be1fbe (opens in a new tab).

Licenses

Code
BSD-3-Clause (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (BSD-3-Clause) at commit 0be1fbe (opens in a new tab), on 16 Oct 2026.

Commercial use
Yes

Labels

  • StaleNo commit in 12 months: the newest is from 17 Apr 2023.

What it does

  • Runs a factor graph in mapOptimization that combines lidar odometry and GPS factors over the whole run.
  • Runs a second factor graph in imuPreintegration that fuses IMU and lidar odometry and estimates IMU bias, giving odometry at IMU rate.
  • Deskews point clouds using per-point timestamps and ring numbers from a mechanical lidar.
  • Includes a proof-of-concept loop closure adapted from LeGO-LOAM, enabled through a parameter.
  • Can use GPS odometry as an input, with thresholds for filtering readings and adding GPS factors.
  • Provides a save_map service that writes the map to a PCD file at a chosen resolution.

Written by Robotheca from the project's README (opens in a new tab) at commit 0be1fbe.

Getting started

Difficulty
Advanced
Hardware it needs, as the project states it
Built for ROS1 (tested with Kinetic and Melodic, Noetic referenced in an issue); requires gtsam, a 9-axis IMU recommended at 200Hz or higher, and a mechanical lidar such as Velodyne, Ouster, or Livox Horizon with extrinsics configured. Docker image based on ROS Kinetic is provided. No computer or GP

Maintenance

Status
Stale: no commit in 12 months
Newest commit
17 Apr 2023 on master
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.