FAST-LIO2 (non-ROS) source for the DimOS native module. This repo is consumed as a source input by the fastlio2 flake in the main dimos repo — it is not built standalone.
Based on hku-mars/FAST_LIO via the non-ROS fork by BurhanMuhyiddin.
DimOS modifications:
- Parameterized config via CLI arguments (no hardcoded paths)
- Removed Python dependency
- LCM integration for point cloud and odometry publishing
- Livox Mid-360 direct SDK integration (no ROS driver)
- Nix flake for reproducible builds
FAST-LIO2 was developed by Wei Xu, Yixi Cai, Dongjiao He, Jiarong Lin, and Fu Zhang at the MARS Lab, University of Hong Kong. If you use this work, please cite their papers:
@article{xu2022fastlio2,
title = {FAST-LIO2: Fast Direct LiDAR-Inertial Odometry},
author = {Xu, Wei and Cai, Yixi and He, Dongjiao and Lin, Jiarong and Zhang, Fu},
journal = {IEEE Transactions on Robotics},
volume = {38},
number = {4},
pages = {2053--2073},
year = {2022},
publisher = {IEEE}
}
@article{xu2021fastlio,
title = {FAST-LIO: A Fast, Robust LiDAR-Inertial Odometry Package by Tightly-Coupled Iterated Kalman Filter},
author = {Xu, Wei and Zhang, Fu},
journal = {IEEE Robotics and Automation Letters},
volume = {6},
number = {2},
pages = {3317--3324},
year = {2021},
publisher = {IEEE}
}GPL-2.0 — inherited from upstream FAST_LIO.