solidstate-lidar-slam

中文文档请见 README.zh-CN.md.

Adapter and benchmark hub for solid-state LiDAR across LIO/LVIO/SLAM, focused on small-FoV short-range sensing and degenerate-scene robustness.

Table of Contents

• Overview
• Scope
• Supported Algorithms
• Degenerate Scenario Focus
• Repository Layout
• Roadmap
• Citation
• Upstream References
• License

Overview

solidstate-lidar-slam provides a unified adaptation and benchmarking workspace for solid-state LiDAR pipelines.

Current release status:

• Repository structure is public.
• Algorithm adaptation modules are being released incrementally.
• Degenerate-scene handling notes are organized under docs/degenerate-scenarios/.

Scope

In scope:

• Unified adaptation entry for multiple LIO/LVIO/SLAM backends.
• Configuration baselines for small-FoV short-range solid-state LiDAR.
• Degenerate-scene handling strategies and evaluation conventions.

Out of scope (at this stage):

• Claiming full reimplementation of all upstream projects.
• Replacing original upstream documentation and papers.

Supported Algorithms

Algorithm	Category	Integration Status	Upstream Repository	Upstream License
FAST-LIO2	LIO	Adapted internally, release in progress	hku-mars/FAST_LIO	GPL-2.0
FAST-LIVO2	LVIO	Adapted internally, release in progress	hku-mars/FAST-LIVO2	GPL-2.0
COIN-LIO	LIO	Adapted internally, release in progress	ethz-asl/COIN-LIO	BSD-3-Clause (with GPLv2 notice in upstream LICENSE)
Direct-LIO	LIO	Adapted internally, release in progress	vectr-ucla/direct_lidar_inertial_odometry	MIT
Voxel-SLAM	SLAM	Adapted internally, release in progress	hku-mars/Voxel-SLAM	GPL-2.0
VoxelMap	SLAM	Adapted internally, release in progress	hku-mars/VoxelMap	GPLv2 stated in upstream README

Degenerate Scenario Focus

Primary scenario taxonomy (tracked in docs/degenerate-scenarios/):

• Low-Texture
• Repetitive Geometry
• Narrow FoV
• Dynamic Interference

Repository Layout

.
|-- README.md
|-- README.zh-CN.md
|-- LICENSE
|-- THIRD_PARTY_LICENSES.md
|-- docs/
|   |-- zh/
|   |-- en/
|   `-- degenerate-scenarios/
|-- modules/
|   |-- fast-lio2/
|   |-- fast-livo2/
|   |-- coin-lio/
|   |-- direct-lio/
|   |-- voxel-slam/
|   `-- voxelmap/
|-- configs/
|-- datasets/
`-- tools/

Roadmap

• Publish runnable baseline adapters for all listed algorithms.
• Release parameter templates for small-FoV short-range sensors.
• Add benchmark protocol and reporting templates for degenerate scenarios.
• Provide reproducible examples for cross-algorithm comparison.

Citation

If this repository is useful for your research or engineering project, please:

• Cite the corresponding upstream algorithms in your paper/report.
• Reference this repository for adaptation and benchmark workflows.

Upstream References

• FAST-LIO2: https://github.com/hku-mars/FAST_LIO
• FAST-LIVO2: https://github.com/hku-mars/FAST-LIVO2
• COIN-LIO: https://github.com/ethz-asl/COIN-LIO
• Direct-LIO: https://github.com/vectr-ucla/direct_lidar_inertial_odometry
• Voxel-SLAM: https://github.com/hku-mars/Voxel-SLAM
• VoxelMap: https://github.com/hku-mars/VoxelMap

License

This repository is licensed under GPL-2.0.

For multi-upstream adaptation details and per-project license mapping, see THIRD_PARTY_LICENSES.md.