mlsanityData to 7 Oct 2026

FAST-LIO: A Fast, Robust LiDAR-inertial Odometry Package by Tightly-Coupled Iterated Kalman Filter

arXiv 2010.08196 ↗First posted 16 Oct 2020cs.ROcited by 70

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Abstract (arXiv)

This paper presents a computationally efficient and robust LiDAR-inertial odometry framework. We fuse LiDAR feature points with IMU data using a tightly-coupled iterated extended Kalman filter to allow robust navigation in fast-motion, noisy or cluttered environments where degeneration occurs. To lower the computation load in the presence of large number of measurements, we present a new formula to compute the Kalman gain. The new formula has computation load depending on the state dimension instead of the measurement dimension. The proposed method and its implementation are tested in various indoor and outdoor environments. In all tests, our method produces reliable navigation results in real-time: running on a quadrotor onboard computer, it fuses more than 1,200 effective feature points in a scan and completes all iterations of an iEKF step within 25 ms. Our codes are open-sourced on Github.

Key facts. Cited by 70 papers in the map (data through 7 Oct 2026). First posted on arXiv 16 Oct 2020.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 2; 2022: 6; 2023: 7; 2024: 20; 2025: 19; 2026: 16.

70 papers.

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  1. 2021R3LIVE: A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping packagecited by 49
  2. 2024FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometrycited by 40
  3. 2024CityWalker: Learning Embodied Urban Navigation from Web-Scale Videoscited by 40
  4. 2025BeamDojo: Learning Agile Humanoid Locomotion on Sparse Footholdscited by 32
  5. 2023HypLiLoc: Towards Effective LiDAR Pose Regression with Hyperbolic Fusioncited by 24
  6. 2025VLA-AN: An Efficient and Onboard Vision-Language-Action Framework for Aerial Navigation in Complex Environmentscited by 22
  7. 2023NTU4DRadLM: 4D Radar-centric Multi-Modal Dataset for Localization and Mappingcited by 17
  8. 2024Towards Dense and Accurate Radar Perception Via Efficient Cross-Modal Diffusion Modelcited by 17
  9. 2023Fast and Accurate Deep Loop Closing and Relocalization for Reliable LiDAR SLAMcited by 15
  10. 2022High-Definition Map Generation Technologies For Autonomous Drivingcited by 14
  11. 2021Large-scale Autonomous Flight with Real-time Semantic SLAM under Dense Forest Canopycited by 12
  12. 2024DARE: Diffusion Policy for Autonomous Robot Explorationcited by 11
38 more
  1. 2025Meta-Memory: Retrieving and Integrating Semantic-Spatial Memories for Robot Spatial Reasoningcited by 9
  2. 2024Event-Aided Time-to-Collision Estimation for Autonomous Drivingcited by 8
  3. 2025GS-LIVO: Real-Time LiDAR, Inertial, and Visual Multi-sensor Fused Odometry with Gaussian Mappingcited by 8
  4. 2024CoSEC: A Coaxial Stereo Event Camera Dataset for Autonomous Drivingcited by 6
  5. 2024WildLMa: Long Horizon Loco-Manipulation in the Wildcited by 6
  6. 2025Towards Adaptable Humanoid Control via Adaptive Motion Trackingcited by 6
  7. 2024OmniColor: A Global Camera Pose Optimization Approach of LiDAR-360Camera Fusion for Colorizing Point Cloudscited by 5
  8. 2025HeRCULES: Heterogeneous Radar Dataset in Complex Urban Environment for Multi-session Radar SLAMcited by 5
  9. 2025S-Graphs 2.0 -- A Hierarchical-Semantic Optimization and Loop Closure for SLAMcited by 5
  10. 2025Diffusion-Based mmWave Radar Point Cloud Enhancement Driven by Range Imagescited by 5
  11. 2023Efficient Implicit Neural Reconstruction Using LiDARcited by 4
  12. 2023TransFusionOdom: Interpretable Transformer-based LiDAR-Inertial Fusion Odometry Estimationcited by 4
  13. 2024NeuV-SLAM: Fast Neural Multiresolution Voxel Optimization for RGBD Dense SLAMcited by 4
  14. 2025LiDAR-VGGT: Cross-Modal Coarse-to-Fine Fusion for Globally Consistent and Metric-Scale Dense Mappingcited by 4
  15. 2026AirHunt: Bridging VLM Semantics and Continuous Planning for Efficient Aerial Object Navigationcited by 4
  16. 2022R3LIVE++: A Robust, Real-time, Radiance reconstruction package with a tightly-coupled LiDAR-Inertial-Visual state Estimatorcited by 3
  17. 2022ECTLO: Effective Continuous-time Odometry Using Range Image for LiDAR with Small FoVcited by 2
  18. 2024Event-based Sensor Fusion and Application on Odometry: A Surveycited by 2
  19. 2026Annotation-Free Detection of Drivable Areas and Curbs Leveraging LiDAR Point Cloud Mapscited by 2
  20. 2026ActiveFly-Bench: Aligning Embodied Question Answering with Vision-Language-Action for Aerial Embodied Perceptioncited by 2
  21. 2026Uncertainty-Aware World Model for Aerial Image-Goal Navigationcited by 2
  22. 2026FMCW-LIO: A Doppler LiDAR-Inertial Odometrycited by 2
  23. 2022PaGO-LOAM: Robust Ground-Optimized LiDAR Odometrycited by 1
  24. 2022Collection and Evaluation of a Long-Term 4D Agri-Robotic Datasetcited by 1
  25. 2023USTC FLICAR: A Sensors Fusion Dataset of LiDAR-Inertial-Camera for Heavy-duty Autonomous Aerial Work Robotscited by 1
  26. 2023ROSS: Radar Off-road Semantic Segmentationcited by 1
  27. 2024NeurIT: Pushing the Limit of Neural Inertial Tracking for Indoor Robotic IoTcited by 1
  28. 2024Monocular Localization with Semantics Map for Autonomous Vehiclescited by 1
  29. 2024LiVisSfM: Accurate and Robust Structure-from-Motion with LiDAR and Visual Cuescited by 1
  30. 2025Holistic Fusion: Task- and Setup-Agnostic Robot Localization and State Estimation with Factor Graphscited by 1
  31. 2025Toward Real-World Cooperative and Competitive Soccer with Quadrupedal Robot Teamscited by 1
  32. 2026AdaptManip: Learning Adaptive Whole-Body Object Lifting and Delivery with Online Recurrent State Estimationcited by 1
  33. 2026DreamFlow: Local Navigation Beyond Observation via Conditional Flow Matching in the Latent Spacecited by 1
  34. 2026Self-Supervised Online Robot-Agnostic Traversability Estimation for Open-World Environmentscited by 1
  35. 2026Generalized-CVO: Fast and Correspondence-Free Local Point Cloud Registration with Second Order Riemannian Optimizationcited by 1
  36. 2026A Closed-Loop Multi-Agent Framework for Robust Multi-Robot Manipulationcited by 1
  37. 2022A Tightly Coupled LiDAR-IMU Odometry through Iterated Point-Level Undistortioncited by 0
  38. 2024MASSTAR: A Multi-Modal and Large-Scale Scene Dataset with a Versatile Toolchain for Surface Prediction and Completioncited by 0

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