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_LIO. It will be upgraded to FAST_LIO 2.0 in March, 2021.)
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