Section-LIO: A High Accuracy LiDAR-Inertial Odometry Using Undistorted Sectional Point

1 Prerequisites

Before using Section-LIO, make sure you have the following prerequisites:

• Ubuntu 20.04
• ROS == Noetic
• PCL
• Eigen
• Livox_ros_driver: Follow the livox_ros_driver Installation guide to install.

2 Build

To build Section-LIO, follow these steps:

# Create catkin_ws
mkdir -p catkin_ws/src
cd catkin_ws/src

# Clone the code
git clone https://github.com/mengkai98/Section-LIO.git

# Use catkin_make to build the package
cd ..
catkin_make

3 Run

To run Section-LIO, execute the following commands:

# Source the environment
source ./catkin_ws/devel/setup.bash

# For m2dgr
roslaunch section-lio m2dgr.launch

# For avia
roslaunch section-lio avia.launch

4 Datasets

You can access our datasets at Google Drive.