Super-LIO: A Robust and Efficient LiDAR-Inertial Odometry System With a Compact Mapping Strategy

摘要

LiDAR-Inertial Odometry (LIO) is a foundational technique for autonomous systems, yet its deployment on resource-constrained platforms remains challenging due to computational and memory limitations. We propose Super-LIO, a robust LIO system that demands both high performance and accuracy, ideal for applications such as aerial robots and mobile autonomous systems. At the core of Super-LIO is a compact octo-voxel-based map structure, termed <bold xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">OctVox</b>, that limits each voxel to eight subvoxel representatives, enabling strict point density control and incremental denoising during map updates. This design enables a simple yet efficient and accurate map structure, which can be easily integrated into existing LIO frameworks. Additionally, Super-LIO designs a heuristic-guided KNN strategy (HKNN) that accelerates the correspondence search by leveraging spatial locality, further reducing runtime overhead. We evaluated the proposed system using four publicly available datasets and several self-collected datasets, totaling more than 30 sequences. Extensive testing on both X86 and ARM platforms confirms that Super-LIO offers superior efficiency and robustness, while maintaining competitive accuracy. Super-LIO processes each frame approximately 73% faster than SOTA, while consuming less CPU resources. The system is fully open-source and compatible with a wide range of LiDAR sensors and computing platforms.