# RobustFieldAutonomyLab/LeGO-LOAM

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain

Repository: https://github.com/RobustFieldAutonomyLab/LeGO-LOAM
Canonical: https://ross.abutalabs.com/products/lego-loam
Language: C++
License: BSD-3-Clause
License Family: permissive
Topics: loam, iros, ieee, lidar, odometry, slam, gtsam, isam, mapping, velodyne, imu, lidar-odometry, jackal, ros, ugv
Last push: 2024-08-17T07:20:25+00:00

## Health v2 (maintenance only)
Score: 32/100 (v2, computed 2026-09-02T17:46:02.011165+00:00)
- activity 0, release rhythm 35, longevity 100
- inputs: {"age_days": 2981, "days_push": 746, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: no_releases
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 2753, forks 1165 (observed 2026-08-28T04:07:18.129759+00:00)

## What it is
LeGO-LOAM is a lightweight, ground-optimized lidar odometry and mapping (SLAM) system for ROS-compatible unmanned ground vehicles. It consumes point clouds from a horizontally mounted Velodyne VLP-16 plus optional IMU data and outputs real-time 6D pose estimation.

## Use cases
- estimate the 6D pose of a ground robot in real time from lidar scans
- build a map of variable terrain using a VLP-16 lidar on a UGV
- perform ground-optimized lidar odometry with IMU fusion on a Clearpath Jackal
- adapt a SLAM pipeline to a new lidar sensor by tuning range image projection parameters
- run lightweight SLAM on resource-constrained ground vehicles

## When to choose
- you need real-time lidar odometry and mapping on a ground vehicle with a visible ground plane
- you use a ROS-based UGV with a horizontally mounted VLP-16 and optional IMU
- you want a lightweight SLAM solution optimized for variable terrain

## When to avoid
- your platform is aerial, handheld, or lacks a consistent ground plane
- you need a modern lidar-inertial odometry system with broader sensor support (consider LIO-SAM instead)
- you are not using ROS or cannot integrate C++ catkin packages

## Facets
- artifact type: library
- maturity: maintenance
- function: robotics, computer-vision, simulation
- domain: robotics, autonomous-vehicles
- platform: cpp
- tags: slam, lidar-odometry, mapping, point-cloud, velodyne, imu, gtsam, ground-vehicle, real-time, pose-estimation, algorithms, linux, ros

## Member repositories
- RobustFieldAutonomyLab/LeGO-LOAM (main) score 32

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:07:18.129759+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 2026-08-30T08:18:53.339891+00:00, confidence not recorded.
  - readme: https://github.com/RobustFieldAutonomyLab/LeGO-LOAM (fetched 2026-08-28T04:07:18.129759+00:00, sha d584b97fe58f)
- Data as of 2026-08-30T08:39:29.467469+00:00.