mlsanityData to 7 Oct 2026

Loam_livox: A fast, robust, high-precision LiDAR odometry and mapping package for LiDARs of small FoV

arXiv 1909.06700 ↗First posted 15 Sep 2019cs.RO cs.CV eess.IVcited by 27

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Abstract (arXiv)

LiDAR odometry and mapping (LOAM) has been playing an important role in autonomous vehicles, due to its ability to simultaneously localize the robot's pose and build high-precision, high-resolution maps of the surrounding environment. This enables autonomous navigation and safe path planning of autonomous vehicles. In this paper, we present a robust, real-time LOAM algorithm for LiDARs with small FoV and irregular samplings. By taking effort on both front-end and back-end, we address several fundamental challenges arising from such LiDARs, and achieve better performance in both precision and efficiency compared to existing baselines. To share our findings and to make contributions to the community, we open source our codes on Github

Key facts. Cited by 27 papers in the map (data through 7 Oct 2026). First posted on arXiv 15 Sep 2019.

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Citing papers per year: 2021: 3; 2022: 9; 2023: 6; 2024: 7; 2025: 2.

27 papers.

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  1. 2024RGBD GS-ICP SLAMcited by 65
  2. 2021R3LIVE: A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping packagecited by 49
  3. 2023SLOPER4D: A Scene-Aware Dataset for Global 4D Human Pose Estimation in Urban Environmentscited by 47
  4. 2024FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometrycited by 40
  5. 2022HSC4D: Human-centered 4D Scene Capture in Large-scale Indoor-outdoor Space Using Wearable IMUs and LiDARcited by 38
  6. 2021MULLS: Versatile LiDAR SLAM via Multi-metric Linear Least Squarecited by 27
  7. 2022STD: Stable Triangle Descriptor for 3D place recognitioncited by 23
  8. 2023(LC)2: LiDAR-Camera Loop Constraints For Cross-Modal Place Recognitioncited by 16
  9. 2022High-Definition Map Generation Technologies For Autonomous Drivingcited by 14
  10. 2023A Survey on Approximate Edge AI for Energy Efficient Autonomous Driving Servicescited by 14
  11. 2022General Place Recognition Survey: Towards the Real-world Autonomy Agecited by 11
  12. 2023ImMesh: An Immediate LiDAR Localization and Meshing Frameworkcited by 11
15 more
  1. 2024HiSC4D: Human-centered interaction and 4D Scene Capture in Large-scale Space Using Wearable IMUs and LiDARcited by 5
  2. 2022End-To-End Optimization of LiDAR Beam Configuration for 3D Object Detection and Localizationcited by 4
  3. 2022Intensity Image-based LiDAR Fiducial Marker Systemcited by 4
  4. 2022R3LIVE++: A Robust, Real-time, Radiance reconstruction package with a tightly-coupled LiDAR-Inertial-Visual state Estimatorcited by 3
  5. 2022ECTLO: Effective Continuous-time Odometry Using Range Image for LiDAR with Small FoVcited by 2
  6. 2023Real-Time Simultaneous Localization and Mapping with LiDAR intensitycited by 2
  7. 2024L-PR: Exploiting LiDAR Fiducial Marker for Unordered Low Overlap Multiview Point Cloud Registrationcited by 2
  8. 2024DIDLM: A SLAM Dataset for Difficult Scenarios Featuring Infrared, Depth Cameras, LIDAR, 4D Radar, and Others under Adverse Weather, Low Light Conditions, and Rough Roadscited by 1
  9. 2024Perception Helps Planning: Facilitating Multi-Stage Lane-Level Integration via Double-Edge Structurescited by 1
  10. 2025ROLO-SLAM: Rotation-Optimized LiDAR-Only SLAM in Uneven Terrain with Ground Vehiclecited by 1
  11. 2021Resonant Scanning Design and Control for Fast Spatial Samplingcited by 0
  12. 2022Fiducial Tag Localization on a 3D LiDAR Prior Mapcited by 0
  13. 2023LISNeRF Mapping: LiDAR-based Implicit Mapping via Semantic Neural Fields for Large-Scale 3D Scenescited by 0
  14. 2024Robust Second-order LiDAR Bundle Adjustment Algorithm Using Mean Squared Group Metriccited by 0
  15. 2025CAR-LOAM: Color-Assisted Robust LiDAR Odometry and Mappingcited by 0