Iheb SOULA

Iheb SOULA

Software Robotics Engineer | Autonomous Driving

Things I've Built

BIEVR-LIO-SLAM - LiDAR-Inertial SLAM & Localization

An extension of the BIEVR-LIO odometry framework into a full SLAM and localization stack: Scan Context loop closure, GTSAM pose-graph optimization, map saving and global relocalization — all running downstream of the odometry, which stays untouched.

IncLIO - Incremental LiDAR-Inertial Odometry

A real-time LiDAR-Inertial Odometry system built on an Iterated Error-State Kalman Filter (IESKF) with Normal Distribution Transform (NDT) scan-to-map registration. Designed for high-rate, low-latency pose estimation on robotic platforms.