FAR-LIO: Enabling High-Speed Autonomy through Fast, Accurate, and Robust LiDAR-Inertial Odometry (opens in new tab)

Robust and accurate odometry estimation is essential in modern robotics. In environments characterized by highly dynamic motion and sensor noise, odometry estimation becomes increasingly challenging. Autonomous racing combines both factors in an unstructured setting, where minimizing odometry latency is essential for stable closed-loop control. This paper introduces FAR-LIO, a highly optimized CUDA-accelerated LiDAR-inertial odometry framework d...