This repository works on tightly fusing raw GNSS measuremtns, IMU with LiDAR information for localization and mapping. Currently, gnss is aligned by using IMU， which means gnss cannot be utilized in the sytem if imu was not used or went wrong.
- online alignment between LiDAR and IMU
- online alignment between IMU and GNSS
- state estimation, localization
- Local Mapping and global Mapping
More code is coming...
- online alignment between LiDAR and GNSS
- reduce performance time when processing 3d point cloud