HViktorTsoi/FAST_LIO_LOCALIZATION
A simple localization framework that can re-localize in built maps based on FAST-LIO. observed · 2026-08-28
Health v2 · maintenance only
32/100
- Activity 0
- Release rhythm 35
- Longevity 100
Flags: no_releases
How is this computed?
round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10) — computed 2026-09-03. Adoption (stars, forks) is never an input.
- gap_med: n/a
- age_days: 1851
- days_rel: n/a
- days_push: 1201
- n_releases_24m: 0
Adoption not part of the score
1048 stars · 213 forks observed · 2026-08-28
What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-30, confidence not recorded
A ROS-based localization framework that re-localizes a robot in a pre-built 3D point cloud map by fusing FAST-LIO lidar odometry with low-frequency global localization. It eliminates odometry drift and supports initial pose estimation via RVIZ or external sensors.
Use cases
- localize a robot in a pre-built lidar point cloud map
- eliminate accumulated odometry drift from FAST-LIO
- run realtime 3D global localization with Livox lidar
- re-localize in maps built with LIO-SAM or FAST-LIO-SLAM
- fuse low-frequency global localization with high-frequency lidar odometry
- provide initial pose manually in RVIZ or from another sensor
When to choose
- you already use FAST-LIO and need map-based localization
- you have a pre-built point cloud map from LIO-SAM or FAST-LIO-SLAM
- you need computationally efficient realtime localization with Livox lidar
- your robot runs ROS on Linux
When to avoid
- you need a full SLAM system to build maps from scratch
- you don't use ROS or Livox-style lidar
- you need visual (camera-based) localization
- you need active maintenance or recent updates
Facets
library · maturity maintenance
robotics computer-vision simulation robotics autonomous-vehicles computer-vision cpp python lidar-localization fast-lio ros point-cloud-map slam livox-lidar odometry linux
1 source
- readme: https://github.com/HViktorTsoi/FAST_LIO_LOCALIZATION · fetched 2026-08-28 · 326e80c1521e
Member repositories
| Repository | Role | Health v2 |
|---|---|---|
| HViktorTsoi/FAST_LIO_LOCALIZATION | main | 32 |
For agents
markdown · JSON · MCP: product_card(name="HViktorTsoi/FAST_LIO_LOCALIZATION")
Data as of 2026-08-30T08:39:29.467469+00:00 · Report a problem