實時多功能激光雷達 SLAM 包，具有建圖和定位雙重功能。支持多種類型的 IMU（6 軸和 9 軸）和激光雷達（Velodyne、Livox Avia、Livox Mid 360、RoboSense、Ouster 等）。支持各種類型的前端，如 LOAM、NDT、ICP 等。支持多種融合方法，如卡爾曼濾波、優化方法等。支持多種 LoopClosure 方法。整體精度和效率接近目前最先進的方法。

支持多種 IMU 類型。
支持多種融合方法。
支持建圖和定位。
支持多種 LoopClosure 方法。
支持多種類型激光雷達傳感器(機械、固態等)，并可自定義激光雷達類型。
支持多種點云配準方法，并可輕松擴展到其他配準方法。

A real-time multifunctional Lidar SLAM package. It has dual functions of Mapping and Localization. Supports multiple types of IMUs(6-axis and 9-axis) and Lidars(Velodyne, Livox Avia, Livox Mid 360, RoboSense, Ouster, etc). Supports various types of frontends, such as LOAM, NDT, ICP, etc. Supports multiple fusion methods, such as Kalman filter, optimization method, etc. Support multiple LoopClosure methods. The overall accuracy and efficiency are close to the current state-of-the-art methods.

• Supports multiple IMU types.

• Supports multiple fusion methods.

• Supports Mapping and Localization.

• Supports multiple LoopClosure methods.

• Supports multiple Lidar types, and customize Lidar type.

• Supports multiple pointcloud registration methods, and easily extendable to other registration methods.