/LIO-SAM-GPU-ScanToMapOpt

A CUDA reimplementation of the line/plane odometry of LIO-SAM. A point cloud hash map (inspired by iVox of Faster-LIO) on GPU is used to accelerate 5-neighbour KNN search.

Primary LanguageC++BSD 3-Clause "New" or "Revised" LicenseBSD-3-Clause