steam_icp

Continuous-time lidar, radar, lidar-inertial, and radar-inertial odometry

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utiasASRL

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Created

Aug 12, 2022

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README Summary

STEAM ICP is a continuous-time odometry framework that processes lidar, radar, and inertial sensor data for robust trajectory estimation. The system uses the STEAM (Smooth Trajectory Estimation using the Asymmetric Metric) library to perform simultaneous localization and mapping with various sensor modalities. It provides implementations for lidar-only, radar-only, lidar-inertial, and radar-inertial odometry configurations.

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Tags

Simultaneous Localization and Mapping (SLAM)Sensor FusionContinuous-Time EstimationPoint Cloud ProcessingInertial Navigation SystemsKalman FilteringIterative Closest Point (ICP)State EstimationMulti-Modal Sensor IntegrationReal-time ProcessingRoboticsEdge/MobileRadar Signal ProcessingAutonomous Vehicle LocalizationOutdoor Robot OperationsGaussian Process RegressionTrajectory OptimizationTime Series3D Mapping and SurveyingOn-deviceWarehouse AutomationAgricultureContinuous-time EstimationDefense & Aerospace3DInertial Measurement Unit IntegrationLidar Point Cloud ProcessingMining & ConstructionReal-time AIMobile Robot NavigationFactor Graph OptimizationEdge AIPoint CloudSelf-hostedAutonomous VehiclesC++

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Updated 2 months ago

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research

Quality: medium
Maturity: research

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C++100.0%

Timeline

Project created: Aug 12, 2022
Forked: Mar 16, 2026
Your last push: 2 months ago
Upstream last push: 2 months ago
Tracked since: Feb 11, 2026

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