GitHub repository

Eliminates mandatory feature extraction by working with raw LiDAR points, improving accuracy and supporting diverse LiDAR types like Velodyne and Livox.

Uses incremental ikd-Tree mapping to achieve over 100Hz LiDAR rates, enabling real-time performance on embedded platforms like Raspberry Pi.

Tightly-coupled iterated Kalman filter integrates LiDAR and IMU data in a single loop, ensuring reliability in fast-motion or cluttered environments.

Compatible with spinning LiDARs (e.g., Ouster), solid-state LiDARs (e.g., Livox Avia), and ARM-based systems, as highlighted in the README.