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contagon merged 5 commits into from
Oct 17, 2025
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Add citation and badges #6

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Add citation and badges
contagon Oct 17, 2025
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Add in build badge
contagon Oct 17, 2025
360c347
Fix readmes
contagon Oct 17, 2025
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Another readme try
contagon Oct 17, 2025
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contagon Oct 17, 2025
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9 changes: 9 additions & 0 deletions CITATION.bib
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@misc{potokar2025formfixedlagodometryreparative,
title = {FORM: Fixed-Lag Odometry with Reparative Mapping utilizing Rotating LiDAR Sensors},
author = {Easton R. Potokar and Taylor Pool and Daniel McGann and Michael Kaess},
year = {2025},
eprint = {2510.09966},
archiveprefix = {arXiv},
primaryclass = {cs.RO},
url = {https://arxiv.org/abs/2510.09966}
}
25 changes: 21 additions & 4 deletions README.md
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<div align="center">
<h1>FORM</h1>
<h3 style="font-weight: normal"><b>F</b>ixed-Lag <b>O</b>dometry with <b>R</b>eparative <b>M</b>apping</h4>
<!-- <a href="https://github.com/rpl-cmu/form/blob/master/LICENSE"><img src="https://img.shields.io/github/license/rpl-cmu/form" /></a> -->
<b>F</b>ixed-Lag <b>O</b>dometry with <b>R</b>eparative <b>M</b>apping
<br />
<br />
<a href="https://github.com/rpl-cmu/form/releases"><img src="https://img.shields.io/github/v/release/rpl-cmu/form" /></a>
<a href="https://github.com/rpl-cmu/form/actions/workflows/ci.yml"><img src="https://img.shields.io/github/actions/workflow/status/rpl-cmu/form/ci.yml" /></a>
<a href="https://github.com/rpl-cmu/form/blob/master/LICENSE"><img src="https://img.shields.io/github/license/rpl-cmu/form" /></a>
<a href="https://arxiv.org/abs/2510.09966"><img src="https://img.shields.io/badge/arXiv-2510.09966-b31b1b.svg" /></a>
<br />
<br />
FORM is a LiDAR Odometry system that performs fixed-lag **smoothing** and sub-map **reparations**, all in **real-time** with minimal parameters.
<br />
<br />

FORM is a LiDAR Odometry system that performs fixed-lag smoothing over a window of prior poses along with map reparations, all in real-time with minimal parameters.
![](.github/assets/readme.png)

</div>
Expand Down Expand Up @@ -52,5 +61,13 @@ evalio stats evalio_results/25.10.03_full/
## Citation
If you use FORM for any academic work, please cite:
```
TODO
@misc{potokar2025formfixedlagodometryreparative,
title={FORM: Fixed-Lag Odometry with Reparative Mapping utilizing Rotating LiDAR Sensors},
author={Easton R. Potokar and Taylor Pool and Daniel McGann and Michael Kaess},
year={2025},
eprint={2510.09966},
archivePrefix={arXiv},
primaryClass={cs.RO},
url={https://arxiv.org/abs/2510.09966},
}
```
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