2Fast-2Lamaa: Large-scale lidar-inertial localization and mapping with continuous distance fields

Cedric Le Gentil, Raphael Falque, Daniil Lisus, Timothy D. Barfoot, Robotics Institute, University of Toronto Institute for Aerospace Studies, Robotics Institute, University of Technology Sydney

The International Journal of Robotics Research

Published online on June 12, 2026

Abstract

The International Journal of Robotics Research, Ahead of Print.
This paper introduces 2Fast-2Lamaa, a lidar-inertial state estimation framework for odometry, mapping, and localization. Its first key component is the optimization-based undistortion of lidar scans, which uses continuous IMU preintegration to model the ...