{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/llol-low-latency-odometry-for-spinning-lidars","title":"LLOL: Low-Latency Odometry for Spinning Lidars","arxiv_id":"2110.01725","date":"2021-10-04","proceeding":null,"authors":["Chao Qu","Shreyas S. Shivakumar","Wenxin Liu","Camillo J. Taylor"],"abstract":"In this paper, we present a low-latency odometry system designed for spinning lidars. Many existing lidar odometry methods wait for an entire sweep from the lidar before processing the data. This introduces a large delay between the first laser firing and its pose estimate. To reduce this latency, we treat the spinning lidar as a streaming sensor and process packets as they arrive. This effectively distributes expensive operations across time, resulting in a very fast and lightweight system with much higher throughput and lower latency. Our open-source implementation is available at \\url{https://github.com/versatran01/llol}.","url_abs":"https://arxiv.org/abs/2110.01725v2","url_pdf":"https://arxiv.org/pdf/2110.01725v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"llol-low-latency-odometry-for-spinning-lidars","repo_url":"https://github.com/versatran01/llol","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":null},{"paper_slug":"llol-low-latency-odometry-for-spinning-lidars","repo_url":"https://github.com/versatran01/rofl-beta","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}