A CUDA reimplementation of the line/plane odometry of LIO-SAM. A point cloud hash map (inspired by iVox of Faster-LIO) on GPU is used to accelerate 5-neighbour KNN search. Run on Jetson Orin NX 8GB.
gpu cuda lidar slam knn loam 3d-mapping lio lidar-slam lidar-inertial-odometry lio-sam ivox faster-lio
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Updated
Aug 24, 2025 - Cuda