Localization

LIO

Overall constraints, interface conventions, and algorithm entry points for LiDAR-inertial odometry.

Scope Inside The Localization Layer

This section covers the LiDAR-inertial odometry modules currently used in the repository:

• Point-LIO
• Fast-LIO

Shared Conventions

The repository aims to keep the following stable across LIO implementations:

• a consistent odometry topic
• stable TF responsibility around odom -> base_link
• consistent naming for registered clouds and path output

Related Pages

• Localization
• Topic Reference
• TF Tree