LiLi-OM is a tightly-coupled, keyframe-based LiDAR-inertial odometry and mapping system for both solid-state-LiDAR and conventional LiDARs.

This repository uses a ROS node to subscribe to camera (hikvision) and lidar (livox) data. After the node merges the data, it publishes the colored point cloud and displays it in rviz.

This is the official repository of LiLi-OM, a tightly-coupled, keyframe-based LiDAR-inertial odometry and mapping system for both solid-state-LiDAR and conventional LiDARs.