Point-LIO

Point-LIO is a lidar-inertial odometry and mapping system built for fast, aggressive motion, running on ROS with Livox and Velodyne or Ouster lidars.

Made by MaRS Lab, The University of Hong Kong, Hong Kong SAR China (checked on github.com/hku-mars (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 4b86a46 (opens in a new tab), on 16 Oct 2026.
Commercial use: Yes

Outputs odometry at high frequency, 4k to 8kHz, and removes motion distortion from lidar scans.
Stays robust when the IMU saturates or the platform vibrates severely, tested up to 75 rad/s.
Can save the accumulated scans in global frame to a PCD file on shutdown.
Works without an IMU if imu_en is set false and a gravity value is supplied in the yaml file.
Needs IMU and lidar to be time-synchronized, and the IMU saturation values and acceleration units set in the yaml configuration.

Written by Robotheca from the project's README (opens in a new tab) at commit 4b86a46.

Difficulty: Advanced
Hardware it needs, as the project states it: Tested on Ubuntu 20.04 with ROS Noetic; Ubuntu 18.04 and older are not recommended. Requires a Livox, Velodyne or Ouster lidar and an IMU; no specific computer specs are stated.
How to start: The project's README (opens in a new tab)

Checked on GitHub on 16 Oct 2026.

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.