Tixiao Shan has released a very interesting LIO-SAM (LiDAR Inertial Odometry via Smoothing and Mapping): https://github.com/TixiaoShan/LIO-SAM
Here the corresponding publication: https://www.researchgate.net/publication/342623264_LIO-SAM_Tightly-coupled_Lidar_Inertial_Odometry_via_Smoothing_and_Mapping
A demonstration video can be found here: https://www.youtube.com/watch?v=A0H8CoORZJU
The algorithm relies on an external IMU and has so far been tested with a Velodyne 16 beam puck. On the Github "ToDo" list it is stated:
Does anybody know when the appropriate Ouster driver will be available?
It was just updated this morning to support Ouster lidar. I haven't tested it myself but it looks very promising.
Please note that you'll need an external 9-axis IMU for this.
Excellent news! Tixiao Shan posted today that "Support for Ouster lidar has been added." Time to get an Ouster methinks
