# hku-mars/loam_livox

A robust LiDAR Odometry and Mapping (LOAM) package for Livox-LiDAR

Repository: https://github.com/hku-mars/loam_livox
Canonical: https://ross.abutalabs.com/products/loam_livox
Language: C++
License: GPL-2.0
License Family: copyleft
Topics: loam, livox-lidar
Last push: 2020-02-24T20:51:56+00:00

## Health v2 (maintenance only)
Score: 23/100 (v2, computed 2026-09-03T02:20:16.233290+00:00)
- activity 0, release rhythm 8, longevity 100
- inputs: {"age_days": 2644, "days_push": 2382, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: none
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 1619, forks 454 (observed 2026-08-28T04:05:12.231758+00:00)

## What it is
A robust, real-time LiDAR odometry and mapping (LOAM) package designed for Livox LiDARs with small field of view. It provides feature extraction, outlier rejection, motion distortion compensation, loop closure, and map saving/reload utilities.

## Use cases
- run lidar odometry and mapping with a livox lidar
- build 3d point cloud maps from livox sensor data
- estimate robot trajectory from lidar scans in real time
- perform loop closure for lidar slam
- compensate motion distortion in lidar point clouds
- research small-fov lidar slam algorithms

## When to choose
- you use a Livox LiDAR (e.g. Mid-40) with a small field of view
- you need a proven, low-drift real-time odometry and mapping pipeline on ROS
- you want built-in loop closure and map saving/reload for lidar slam

## When to avoid
- you use conventional spinning lidars like Velodyne or Ouster rather than Livox
- you need a maintained project with recent updates or newer ROS 2 support
- you need visual-inertial or multi-sensor fusion slam

## Facets
- artifact type: library
- maturity: maintenance
- function: computer-vision, robotics, simulation
- domain: robotics, autonomous-vehicles
- platform: cpp
- tags: lidar-odometry, slam, livox-lidar, point-cloud, ros-package, mapping, loop-closure, algorithms, linux, ros

## Member repositories
- hku-mars/loam_livox (main) score 23

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:05:12.231758+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 2026-08-30T03:49:26.724868+00:00, confidence not recorded.
  - readme: https://github.com/hku-mars/loam_livox (fetched 2026-08-28T04:05:12.231758+00:00, sha 7bfdcc48b68c)
- Data as of 2026-08-30T08:39:29.467469+00:00.