LIO-MARS

Non-uniform Continuous-time Trajectories for Real-time LiDAR-Inertial-Odometry

Jan Quenzel · Sven Behnke

Code

We are currently preparing the release of our full code including interfaces for ROS 1 and ROS 2.

License

This project is made available under the BSD 3-Clause License. For details, see the LICENSE file.

Citation

If you found this work useful, please consider leaving a star ⭐ on this repository and citing our paper:

@misc{quenzel2025liomars,
  author        = {Quenzel, Jan and Behnke, Sven},
  title         = {LIO-MARS: Non-uniform Continuous-time Trajectories for Real-time LiDAR-Inertial-Odometry}, 
  year          = {2025},
  eprint        = {2511.13985},
  archivePrefix = {arXiv},
  primaryClass  = {cs.RO},
  url           = {https://arxiv.org/abs/2511.13985}, 
}

T-RO Submission

The paper is currecntly under review by IEEE Transactions on Robotics (T-RO).

Acknowledgements

MARS, Basalt, Fast-LIO2, easy_pbr

This package builds upon MARS. This work would not have been possible without the B-splines and the preintegration of Basalt. Our IMU preprocessing and initialization are partially inspired by Fast-LIO2.

For debug and visualiztion purposes, we heavily rely on easy_pbr.