Acknowledgements¶

FAR-LIO stands on the shoulders of excellent open-source repositories and libraries. If FAR-LIO is useful to you, please consider giving these projects a ⭐ as well — they made it possible.

Algorithms¶

• KISS-ICP — the inspiration for the general architecture of the odometry package and source of the adaptive-thresholding scheme.
• fast_gicp — the basis for covariance regularization and factor-based architecture of FAR-LIO.

Libraries¶

• cuCollections — CUDA hash map behind cuVoxelMap.
• Sophus — Lie-group types for SE(3)/SO(3).
• oneTBB — parallelism on the CPU side.
• robin-map — fast hash map.
• Point Cloud Library (PCL) — point-cloud types and I/O.
• Eigen — linear algebra.
• GoogleTest — unit testing.
• rerun — optional visualization.
• tsl — time-series logging and the debug messages FAR-LIO emits.
• TAM__param_management — parameter management.