GLIM Video Gallery

Mapping with Various Range Sensors

Various sensors, Outdoor mapping with MID360, Indoor mapping with Azure Kinect

On a Single Board Computer (Khadas VIM3)

OdometryEstimationCPU + SubMappingPassthrough + GlobalMappingPoseGraph + FlatEarther

On a Jetson Orin Nano

OdometryEstimationGPU + SubMapping (GPU) + GlobalMapping (GPU)

Interactive Map Correction (Manual Loop Closure)

Map correction with offline_viewer.

Visual-LiDAR-IMU Odometry

Tightly coupled Visual-LiDAR-IMU odometry with a proprietary extension module.

Flatwall Experiment

Showing robustness to severe point cloud degeneration.

Merging Multiple Mapping Sessions