FAST-LIO2: 100Hz LiDAR Odometry Without Features

TL;DR FAST-LIO2 is a high-speed, high-accuracy LiDAR-IMU Odometry system developed by HKU MARS Lab. Two core innovations: (1) Direct raw point cloud registration to the map — no feature extraction, (2) Incremental k-d Tree (ikd-Tree) for O(log n) rea...