IncLIO - Incremental LiDAR-Inertial Odometry
Overview
IncLIO is a real-time LiDAR–Inertial Odometry system designed for high-frequency and low-latency state estimation in robotic platforms.
It combines IMU propagation with LiDAR scan-to-map registration using a tightly-coupled filtering approach.
Method
The system is built on:
- Iterated Error-State Kalman Filter (IESKF) for state estimation
- NDT (Normal Distribution Transform) for scan-to-map alignment
- Incremental map update for real-time performance
This follows the family of modern LIO systems where LiDAR and IMU are fused to achieve accurate pose estimation in real-time robotic applications.
Key Features
- Real-time pose estimation
- Tight LiDAR–IMU fusion
- Low-latency pipeline
- Designed for embedded robotic systems
Use Cases
- Autonomous navigation
- Field robotics
- GPS-denied environments