Ma Lio: Asynchronous Multi-LiDAR and Inertial Odometry for SLAM

Ma Lio provides sensor data for asynchronous multiple LiDAR-inertial odometry, developed by minwoo0611 and updated in December 2025. The repository facilitates SLAM research through point-wise inter-LiDAR uncertainty propagation across multiple sensor streams.

Use Cases

• Benchmarking SLAM algorithms using multi-LiDAR point clouds
• Testing uncertainty propagation models in asynchronous sensor environments
• Developing IMU-LiDAR fusion techniques for odometry

Strengths

• Supports multiple asynchronous LiDAR sensors
• Includes point-wise uncertainty propagation features
• GPL-2.0 licensed for open research

Limitations

• Unknown record count and file size
• Lack of documented column headers in metadata
• Highly specialized for SLAM research niche

Provenance

Source

minwoo0611 via GitHub

Collection Method

Sensor-based (LiDAR and IMU)

Freshness

Updated December 2025.