qdLMF/LIO-SAM-GPU-ScanToMapOpt

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.

Language: C++ - Size: 62.7 MB - Last synced at: 2 months ago - Pushed at: over 1 year ago - Stars: 137 - Forks: 19