# LLOL: Low-Latency Odometry for Spinning Lidars

arXiv: https://arxiv.org/abs/2110.01725 · HTML: https://mlsanity.com/paper/2110.01725/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 4 Oct 2021.

## Built on by (most cited first, 1 of 1)

- [ECTLO: Effective Continuous-time Odometry Using Range Image for LiDAR with Small FoV](https://mlsanity.com/paper/2206.08517/) (2022)

## Abstract (arXiv)

In this paper, we present a low-latency odometry system designed for spinning lidars. Many existing lidar odometry methods wait for an entire sweep from the lidar before processing the data. This introduces a large delay between the first laser firing and its pose estimate. To reduce this latency, we treat the spinning lidar as a streaming sensor and process packets as they arrive. This effectively distributes expensive operations across time, resulting in a very fast and lightweight system with much higher throughput and lower latency. Our open-source implementation is available at urlhttps://github.com/versatran01/llol.