# R3LIO

**Repository Path**: xiaoxinslam/R3LIO

## Basic Information

- **Project Name**: R3LIO
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2026-07-01
- **Last Updated**: 2026-07-01

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

<div align="center">
  <h1>R³LIO: Robust Reflectivity-Assisted Rotating LiDAR-Inertial
  Odometry for Degenerate Environments</h1>
  <p><strong><i>ISPRS JPRS (2026, major revision)</i></strong></p>
  <br>

  <a href="https://github.com/zzywhu/R3LIO">
    <img src="https://img.shields.io/badge/Code-GitHub-black?logo=github" alt="Code">
  </a>
  <!-- <a href="https://ieeexplore.ieee.org/abstract/document/11495237">
    <img src="https://img.shields.io/badge/Paper-IEEE%20Xplore-00629B" alt="Paper">
  </a>
  <a href="https://doi.org/10.1109/TIM.2026.3687975">
    <img src="https://img.shields.io/badge/DOI-10.1109%2FTIM.2026.3687975-blue" alt="DOI">
  </a> -->
</div>
<br>

Official implementation of **R³LIO**, a robust and accurate mobile mapping system built upon an iterative error-state Kalman filter (IESKF), targeting a low-cost rotating LiDAR setup (a 16-channel LiDAR actuated by a motor to continuously scan a full FoV).

## Quick Start

### Real Wrold launch

Launch the real-robot pipeline with:

```bash
roslaunch rigelslam_rot run.launch
```

Test on self-recorded sequences:

<table align="center">
  <tr>
    <td align="center" width="50%"><strong><em>“Building“</em> sequence<strong></td>
    <td align="center" width="50%"><strong><em>“IndustrialPark“</em> sequence<strong></td>
  </tr>
  <tr>
    <td align="center"><img src="src/Rot_SLAM/demo/robust/building.gif" alt="Building" width="380"></td>
    <td align="center"><img src="src/Rot_SLAM/demo/robust/park.gif" alt="Park" width="380"></td>
  </tr>
  <tr>
    <td align="center" width="50%"><strong><em>“ParkingLot“</em> sequence<strong></td>
    <td align="center" width="50%"><strong><em>“OpenSpace“</em> sequence<strong></td>
  </tr>
  <tr>
    <td align="center"><img src="src/Rot_SLAM/demo/robust/parkinglot.gif" alt="Parking Lot" width="380"></td>
    <td align="center"><img src="src/Rot_SLAM/demo/robust/space.gif" alt="Space" width="380"></td>
  </tr>
  <tr>
    <td align="center" width="50%"><strong><em>“CampusLoop“</em> sequence<strong></td>
    <td align="center" width="50%"><strong><em>“Curved Tunnel“</em> sequence<strong></td>
  </tr>
  <tr>
    <td align="center"><img src="src/Rot_SLAM/demo/robust/street.gif" alt="Street" width="380"></td>
    <td align="center"><img src="src/Rot_SLAM/demo/robust/tunnel.gif" alt="Tunnel" width="380"></td>
  </tr>
</table>


### Simulation

1. Start the simulation environment:

```bash
roslaunch scout_gazebo test.launch
```

2. Start the simulated odometry:

```bash
roslaunch rigelslam_rot run_sim.launch
```

Test on simulation sequence:

<table align="center">
  <tr>
    <td align="center" width="50%"><strong>Gazebo simulation environment<strong></td>
    <td align="center" width="50%"><strong><em>“SimSq1“</em> sequence<strong></td>
  </tr>
  <tr>
    <td align="center"><img src="src/Rot_SLAM/demo/simulation/gazebo.gif" alt="Building" width="380"></td>
    <td align="center"><img src="src/Rot_SLAM/demo/simulation/sim.gif" alt="Park" width="380"></td>
  </tr>
</table>

## Dataset

The dataset release is currently being organized and will be available soon.

- **Self-recorded sequences**: coming soon
- **Simulation sequences**: coming soon

## Device Design

A rough structural design of the device is shown below.

<div align="center">
  <img src="src/Rot_SLAM/demo/device/structure.png" alt="Device structure" width="500">
</div>

The detailed SolidWorks design files are currently being organized and will be released soon.


## Citation

If you find this project useful, please consider citing our paper:

<!-- ```bibtex
@ARTICLE{11495237,
  author={Zhou, Zhiyu and Gao, Zhi and Cao, Min and Wang, Jingshi and Li, Yong and Lin, Zhipeng and Yang, Wenbin and Wang, Xiaonan and Zhang, Qiyuan},
  journal={IEEE Transactions on Instrumentation and Measurement},
  title={EasyCalib: A Novel Target for High-Accuracy Fully Automatic Extrinsic Calibration of Camera and LiDAR},
  year={2026},
  volume={75},
  pages={9519815-9519815},
  keywords={Aerospace control;Antenna radiation patterns;Oscillators;Central Processing Unit;Pixel;Radio access networks;Regional area networks;Electronic mail;Digital images;Protocols;Calibration target;extrinsic calibration;light detection and ranging (LiDAR) and camera},
  doi={10.1109/TIM.2026.3687975}
}
``` -->

## Acknowledgments
Thank the authors of [FAST-LIO2](https://github.com/hku-mars/BEV_LIO) and [Scout Gazebo](https://github.com/ADDA-acx/scout_gazebo.git) for open-sourcing their outstanding works.