FGLIO

This repo contains the code of Factor Graph Accelerator for LiDAR-Inertial Odometry.

To run the demo, use python to run localization_demo.py.

The contents in hw_unit are C/C++ code that can be synthesized into hardware. You can use high-level synthesis (HLS) to convert them into HDL.

Citation

If you think this work is useful in your research, please consider cite our paper:

@inproceedings{hao2022factor,
  title={Factor graph accelerator for lidar-inertial odometry},
  author={Hao, Yuhui and Yu, Bo and Liu, Qiang and Liu, Shaoshan and Zhu, Yuhao},
  booktitle={Proceedings of the 41st IEEE/ACM International Conference on Computer-Aided Design},
  pages={1--7},
  year={2022}
}