HKUST-Aerial-Robotics/A-LOAM

Health v2 · maintenance only

Flags: no_releases no_license

Adoption not part of the score

2438 stars · 831 forks observed · 2026-08-28

What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-30, confidence not recorded

A-LOAM is an advanced, simplified C++ implementation of LOAM (Lidar Odometry and Mapping in Real-time) built on Eigen and Ceres Solver. It performs real-time lidar odometry and mapping and serves as clean learning material for SLAM beginners.

Use cases

• run real-time lidar odometry and mapping with a Velodyne VLP-16 or HDL-64
• evaluate SLAM on the KITTI odometry dataset
• learn how LOAM-style lidar SLAM works from clean, readable code
• process rosbag recordings of indoor and outdoor environments into 3D maps
• build a lidar SLAM pipeline quickly using Docker without environment setup pain

When to choose

• you need a well-known, real-time lidar odometry and mapping baseline
• you are a SLAM beginner wanting a simple, readable LOAM implementation
• you work with Velodyne lidars and ROS on Ubuntu
• you want a Docker-based reproducible SLAM setup

When to avoid

• you need visual-inertial or multi-sensor fusion SLAM
• your project targets Windows, macOS, or non-ROS environments
• you need actively maintained code with recent feature development
• you require a custom lidar not supported by the provided launch configurations

Facets

library · maturity maintenance

simulation computer-vision robotics robotics autonomous-vehicles cpp lidar slam odometry point-cloud loam ros ceres-solver pcl mapping algorithms linux

Member repositories

For agents

markdown · JSON · MCP: product_card(name="HKUST-Aerial-Robotics/A-LOAM")