Azimuth-LIO

Azimuth-LIO: Robust LiDAR-Inertial Odometry Via Azimuth-Aware Voxelization and Probabilistic Fusion

We have currently only uploaded the point cloud displays of the substructure from different perspectives; The complete processing code will be gradually released. .cpp files--------To be Updated. .hpp files--------To be updated.

Build

1.1 Docker Container

To be updated.

1.2 Build from source

1.2.1 Prerequisites

1️⃣ Ubuntu and ROS

Ubuntu 20.04 is recommended (or Ubuntu 18.04).

2️⃣ GCC & G++ (only for Ubuntu 18.04)

gcc & g++ >= 9

3️⃣ livox_ros_driver

git clone https://github.com/Livox-SDK/Livox-SDK
cd Livox-SDK
mkdir build
cd build
cmake ..
make -j
sudo make install

5️⃣ glog

sudo apt-get install -y libgoogle-glog-dev

1.2.2 Build

cd <your workspace>
mkdir src
cd src
git clone https://github.com/zhongguanLiu/Azimuth-LIO.git
git clone https://github.com/Livox-SDK/livox_ros_driver
cd ..
catkin_make

Acknowledgements

Acknowledgements and Collaborations Thanks for LOG-LIO and FAST-LIO. Our implementation is built upon their great works.

1. [LOG-LIO] (https://github.com/tiev-tongji/LOG-LIO.git)
2. [FAST-LIO] (https://github.com/hku-mars/FAST_LIO)

Time Line

Time	Event
Sept 23, 2025	Paper submitted