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you can possible look into lidar odometry and mapping packages such as LEGO-LOAM or LIO-SAM. There are a few other LOAM's out there, some use IMU+GPS+Lidar, some others only Lidar.

you can possible look into lidar odometry and mapping packages such as ~~LEGO-LOAM~~ LEGO-LOAM or ~~LIO-SAM.~~ LIO-SAM. There are a few other LOAM's out there, some use IMU+GPS+Lidar, some others only Lidar.

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