We introduce LIO-PPF, a plane pre-fitting and skeleton tracking technique, that can ease the computation of state-of-the-art LIO systems, e.g. LIO-SAM. Please refer to this link for details about building.
In LIO-PPF, we track mainly the basic skeleton of the 3D scene, the planes of which are not fitted individually for each LiDAR scan, let alone for each LiDAR point. However, they are updated incrementally as the scene gradually `flows'.
By contrast, LIO-PPF can consume only 36% of the original local map size to achieve up to 4x faster residual computing and 1.92x overall FPS, while maintaining the same level of accuracy.