In this paper, we present a low-latency odometry system designed for spinning lidars. Many existing lidar odometry methods wait for an entire sweep from the lidar before processing the data. This introduces a large delay between the first laser firing and its pose estimate. To reduce this latency, we treat the spinning lidar as a streaming sensor and process packets as they arrive. This effectively distributes expensive operations across time, resulting in a very fast and lightweight system with much higher throughput and lower latency. Our open-source implementation is available at \url{https://github.com/versatran01/llol}.
@article{arxiv.2110.01725,
title = {LLOL: Low-Latency Odometry for Spinning Lidars},
author = {Chao Qu and Shreyas S. Shivakumar and Wenxin Liu and Camillo J. Taylor},
journal= {arXiv preprint arXiv:2110.01725},
year = {2022}
}