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3. Parallel KD-Tree Search to decrease the computation; 3. Parallel KD-Tree Search to decrease the computation;
4. Robust feature extraction; 4. Robust feature extraction;
It should be noted current version of FAST-LIO does not support Velodyne LiDAR, we may support them after March 2021. It should be noted current version of FAST-LIO does not support Ouster LiDAR, we may support it after March 2021.
**Developers** **Developers**