image/svg+xml
LiDAR Inputs
IMU Inputs
PointsAccumulation
ForwardPropagation
BackwardPropagation
ResidualComputation
StateUpdate
Converged?
Odometry Output
System Overview
N
Y
10-100 Hz
State Estimation
kNNSearch
Updated New Scan
ikd-Tree
Point-wise Insert
Tree Rebuld
Box-wise Delete
Unbalanced?
Map Move?
Y
Y
On-Tree Downsampling
Mapping
10-100 Hz