Data checked 2026-08-13. Data may be stale - beyond the review cycle.
Review cycles are documented on the Methodology page. Methodology
hku-mars/FAST_LIO
Algorithm Tier A slam_vio GPL-2.0
A computationally efficient and robust LiDAR-inertial odometry (LIO) package
Engineering Snapshot
Use cases & tasks 5
- Best suited for
-
- UAVs and robots with LiDAR+IMU
- platforms using Livox Avia LiDAR (per topic)
- applications needing real-time LIO
- Primary tasks
-
- LiDAR-inertial odometry for pose tracking
- SLAM in GPS-denied environments
Stack & ecosystem
- Resource type
- Algorithm
- Ecosystem
- lidar-odometry · livox-avia-lidar
License & compliance
- License
-
GPL-2.0(Inferred)
Lifecycle & freshness Show
- Maintenance
- Active
- Latest version
- Not recorded
- Last activity
- 2026-08-13
- Last checked
- 2026-08-13
- Verification
- Official confirmed
What It Solves
Provide computationally efficient and robust LiDAR-inertial odometry (LIO) for robotic state estimation and mapping.
Primary use cases
- LiDAR-inertial odometry for pose tracking
- SLAM in GPS-denied environments
Secondary use cases
- Mapping via fused point cloud and inertial data
- Research baseline for LIO evaluation
When to Use
Consider when
- Computational efficiency is critical
- Robustness to sensor noise/degeneracy needed
- Using Livox Avia LiDAR
Verify before adopting
- License is inferred GPL-2.0; confirm exact terms
- Confirm supported LiDAR models beyond topic
- Check ROS/dependency requirements not in facts
Where It Fits
Stack layer perception_localization
Start Here
Adoption Checklist
- Needs verification License is inferred GPL-2.0; confirm exact terms
- Needs verification Confirm supported LiDAR models beyond topic
- Needs verification Check ROS/dependency requirements not in facts
Each check stays "needs verification" until an official source confirms it; unconfirmed items are never marked verified.
Known Limitations & Unknowns
Known limitations
- No explicit hardware targets listed
- Latest version/release not provided
- License status inferred
Not publicly verified
- Supported ROS version
- Benchmark performance
- Specific IMU compatibility
Alternatives & Related Tools
Alternatives
- lio-sam — Alternative to
- cartographer — Alternative to
How is it used?
Start from the recorded entry points below, then validate against the technical checklist.
- Official site https://github.com/hku-mars/FAST_LIO
- Repository https://github.com/hku-mars/FAST_LIO
- Documentation https://github.com/hku-mars/FAST_LIO
Technical checklist
- OK License identified Recorded: GPL-2.0
- OK Maintenance signal Active
- OK Verification status Official confirmed
- OK Source evidence attached 1 source record(s)
- NEEDS REVIEW Latest version recorded Not recorded
Official Links
Metadata & Governance
| License | GPL-2.0 — Inferred |
|---|---|
| Commercial model | Unknown |
| Maintenance status | Active |
| Verification status | Official confirmed — Confirmed via the official repository API responses in SourceRefs below. |
| Latest version | Not recorded |
| Latest release | Not recorded |
| Last activity | 2026-08-13 |
| Last checked | 2026-08-13 |
| First seen | Not recorded |
Dataset facts
Facts above come from the official dataset card only; unconfirmed fields stay unknown.
Related Resources & Dependencies
- lio-sam — alternative to (verified)
- cartographer — alternative to (verified)
Recent Activity
New resource: hku-mars/FAST_LIO
New repository resource added by the sprint promote pipeline.
Related Knowledge
Guides
- Evaluating SLAM / VIO Systems for UAV Use — A repeatable checklist for comparing open-source SLAM and visual-inertial odometry systems before integrating them into a UAV stack.
Collections
- SLAM / VIO Stack Evaluation — Open-source localization and mapping systems for UAV navigation, inspection and mapping missions.