# wh200720041/floam

Fast LOAM: Fast and Optimized Lidar Odometry And Mapping   for indoor/outdoor localization IROS 2021

Repository: https://github.com/wh200720041/floam
Canonical: https://ross.abutalabs.com/products/floam
Language: C++
License: NOASSERTION
License Family: other
Topics: loam, slam, aloam, localization, robotics
Last push: 2024-07-30T19:32:24+00:00

## Health v2 (maintenance only)
Score: 32/100 (v2, computed 2026-09-03T02:20:16.233290+00:00)
- activity 0, release rhythm 35, longevity 100
- inputs: {"age_days": 2316, "days_push": 764, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: no_releases, no_license
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 1143, forks 281 (observed 2026-08-28T04:03:45.060188+00:00)

## What it is
FLOAM is a fast and optimized Lidar Odometry And Mapping (LOAM) implementation for indoor and outdoor localization, modified from LOAM and A-LOAM with computational cost reduced up to 3x. It is a ROS package written in C++ using Ceres Solver and PCL, published at IROS 2021.

## Use cases
- real-time lidar odometry for mobile robots
- build 3D maps from lidar point clouds
- localize a robot indoors or outdoors using lidar
- run SLAM on KITTI dataset sequences
- reduce computational cost of A-LOAM
- estimate robot trajectory from lidar scans

## When to choose
- you need faster lidar odometry than A-LOAM with comparable or better accuracy
- you work in ROS with Ubuntu and want a ready-to-build catkin package
- you need both odometry and dense mapping from a spinning lidar
- you want GPU-accelerated optimization via Ceres 2.1+

## When to avoid
- you need visual-inertial or camera-based SLAM rather than lidar-only
- you are not using ROS or Linux
- you need a maintained product with a permissive license (license is non-standard)
- you need support for solid-state lidars out of the box

## Facets
- artifact type: library
- maturity: stable
- function: robotics, computer-vision
- domain: robotics, autonomous-vehicles
- platform: cpp
- tags: slam, lidar-odometry, mapping, localization, loam, point-cloud, ros-package, ceres-solver, pcl, optimization, algorithms, linux, ros

## Member repositories
- wh200720041/floam (main) score 32

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:03:45.060188+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T06:34:59.213769+00:00, confidence not recorded.
  - readme: https://github.com/wh200720041/floam (fetched 2026-08-28T04:03:45.060188+00:00, sha d6bb9aaa306a)
- Data as of 2026-08-30T08:39:29.467469+00:00.