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LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping

Data repo for http://arxiv.org/abs/2204.08775

This project will run the Hololens data in ROS .

supports the creation of real time data using ROS supports formatting data to comon ros formats running frustum pointnet with realtime frustum node

This project contains the scripts to create gruound truth trajectory and the Particle filter implementaion for tracking pedestrians