# Towards High-Performance Solid-State-LiDAR-Inertial Odometry and Mapping

arXiv: https://arxiv.org/abs/2010.13150 · HTML: https://mlsanity.com/paper/2010.13150/

## Key facts

- Cited by 10 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 25 Oct 2020.

## Built on by (most cited first, 10 of 10)

- [STD: Stable Triangle Descriptor for 3D place recognition](https://mlsanity.com/paper/2209.12435/) (2022)
- [SemVecNet: Generalizable Vector Map Generation for Arbitrary Sensor Configurations](https://mlsanity.com/paper/2405.00250/) (2024)
- [Privacy of Autonomous Vehicles: Risks, Protection Methods, and Future Directions](https://mlsanity.com/paper/2209.04022/) (2022)
- [R3LIVE++: A Robust, Real-time, Radiance reconstruction package with a tightly-coupled LiDAR-Inertial-Visual state Estimator](https://mlsanity.com/paper/2209.03666/) (2022)
- [ECTLO: Effective Continuous-time Odometry Using Range Image for LiDAR with Small FoV](https://mlsanity.com/paper/2206.08517/) (2022)
- [Traj-LIO: A Resilient Multi-LiDAR Multi-IMU State Estimator Through Sparse Gaussian Process](https://mlsanity.com/paper/2402.09189/) (2024)
- [Online Robot Navigation and Manipulation with Distilled Vision-Language Models](https://mlsanity.com/paper/2401.17083/) (2024)
- [Automatic coarse co-registration of point clouds from diverse scan geometries: a test of detectors and descriptors](https://mlsanity.com/paper/2308.14047/) (2023)
- [Accelerating Point Cloud Ground Segmentation: From Mechanical to Solid-State Lidars](https://mlsanity.com/paper/2408.10404/) (2024)
- [CAR-LOAM: Color-Assisted Robust LiDAR Odometry and Mapping](https://mlsanity.com/paper/2502.17249/) (2025)

## Abstract (arXiv)

We present a novel tightly-coupled LiDAR-inertial odometry and mapping scheme for both solid-state and mechanical LiDARs. As frontend, a feature-based lightweight LiDAR odometry provides fast motion estimates for adaptive keyframe selection. As backend, a hierarchical keyframe-based sliding window optimization is performed through marginalization for directly fusing IMU and LiDAR measurements. For the Livox Horizon, a newly released solid-state LiDAR, a novel feature extraction method is proposed to handle its irregular scan pattern during preprocessing. LiLi-OM (Livox LiDAR-inertial odometry and mapping) is real-time capable and achieves superior accuracy over state-of-the-art systems for both LiDAR types on public data sets of mechanical LiDARs and in experiments using the Livox Horizon. Source code and recorded experimental data sets are available at https://github.com/KIT-ISAS/lili-om.