ikd-Tree is an incremental k-d tree designed for robotic applications. The ikd-Tree incrementally updates a k-d tree with new coming points only, leading to much lower computation time than existing static k-d trees. Besides point-wise operations, the ikd-Tree supports several features such as box-wise operations and down-sampling that are practically useful in robotic applications.
Yixi Cai 蔡逸熙: Data structure design and implementation
Wei Xu 徐威: Incorporation into LiDAR-inertial odometry package (FAST_LIO2 Released)
More details please refer to our paper and video~
Related paper available on arxiv:
ikd-Tree: An Incremental K-D Tree for robotic applications
Related video: https://youtu.be/ueOunk03zxA
- We upgraded our ikd-Tree to achieve a more stable and efficient performance. More details are shown as follows:
- Replace the queue and priority queue in STL with our code to avoid memory conflicts.
- Fix some bugs in re-building of the previous version, which may result in information loss during the multi-thread re-building process.
- Add a new parameter
max_distto support ranged search to achieve faster nearest search in robotic applications. - Fix minor bugs to improve the overall performance.