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**New Features:**
1. Incremental mapping using ikd-Tree, achieve faster speed and over 100Hz LiDAR rate.
2. Direct odometry on Raw LiDAR points (feature extraction can be closed), achieving better accuracy.
1. Incremental mapping using [ikd-Tree](https://github.com/hku-mars/ikd-Tree), achieve faster speed and over 100Hz LiDAR rate.
2. Direct odometry (scan to map) on Raw LiDAR points (feature extraction can be closed), achieving better accuracy.
3. Since no need for feature extraction, FAST-LIO2 can support different LiDAR Types including spinning (Velodyne, Ouster) and solid-state (Avia, horizon) LiDARs, and can be easily extended to support more LiDAR.
4. Support external IMU.
5. Support ARM-based platforms including Khadas VIM3, Nivida TX2, Raspberry 4B with 8G RAM.
5. Support ARM-based platforms including Khadas VIM3, Nivida TX2, Raspberry Pi 4B(8G RAM).
**Related papers**: