Open-source ROS 2 LiDAR localization: 390m handheld run, 0.26m RMSE
rsasaki0109 · x · 2026-10-17
- Open-source lidarlocalizationros2: map-based 3D LiDAR localization for ROS 2/Nav2 (not SLAM), 570 stars on GitHub.
- Author ran a handheld Livox MID-360 390m outdoors on a prior map, including stretches where scans stop matching and a section outside the map; fused with RKO-LIO odometry it stayed within 0.26m RMSE of ground truth (Koide Hard benchmark).
- A solid reference implementation for robust localization on existing maps.
Related event: Open-Source ROS 2 LiDAR Localization Achieves 0.26m Error Over 390m(2 posts)→
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