实时多功能激光雷达 SLAM 包，具有建图和定位双重功能。支持多种类型的 IMU（6 轴和 9 轴）和激光雷达（Velodyne、Livox Avia、Livox Mid 360、RoboSense、Ouster 等）。支持各种类型的前端，如 LOAM、NDT、ICP 等。支持多种融合方法，如卡尔曼滤波、优化方法等。支持多种 LoopClosure 方法。整体精度和效率接近目前最先进的方法。

支持多种 IMU 类型。
支持多种融合方法。
支持建图和定位。
支持多种 LoopClosure 方法。
支持多种类型激光雷达传感器(机械、固态等)，并可自定义激光雷达类型。
支持多种点云配准方法，并可轻松扩展到其他配准方法。

A real-time multifunctional Lidar SLAM package. It has dual functions of Mapping and Localization. Supports multiple types of IMUs(6-axis and 9-axis) and Lidars(Velodyne, Livox Avia, Livox Mid 360, RoboSense, Ouster, etc). Supports various types of frontends, such as LOAM, NDT, ICP, etc. Supports multiple fusion methods, such as Kalman filter, optimization method, etc. Support multiple LoopClosure methods. The overall accuracy and efficiency are close to the current state-of-the-art methods.

• Supports multiple IMU types.

• Supports multiple fusion methods.

• Supports Mapping and Localization.

• Supports multiple LoopClosure methods.

• Supports multiple Lidar types, and customize Lidar type.

• Supports multiple pointcloud registration methods, and easily extendable to other registration methods.