# 3D lidar mapping and localization for Livox mid360

**URL:** <https://discourse.openrobotics.org/t/3d-lidar-mapping-and-localization-for-livox-mid360/50395>\
**Category:** Packaging and Release Management\
**Created:** [October 3, 2025, 5:36am UTC](https://discourse.openrobotics.org/t/3d-lidar-mapping-and-localization-for-livox-mid360/50395 "2025-10-03T05:36:31Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![Surendhran\_V](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/surendhran_v/32/24748_2.png) [@Surendhran\_V](https://discourse.openrobotics.org/u/Surendhran_V)\
**Post date:** [October 3, 2025, 5:36am UTC](https://discourse.openrobotics.org/t/3d-lidar-mapping-and-localization-for-livox-mid360/50395/1 "2025-10-03T05:36:31Z")

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I have the livox mid360 , i get the livox/lidar and livox/imu data from ros2driver packages and i have an idea about using [TixiaoShan](https://github.com/TixiaoShan)/**[LIO-SAM](https://github.com/TixiaoShan/LIO-SAM)** for mapping and i want to know about how can i proceed to mapping and localization for amr to fully operated 3d robot .

If anybody know about 3d Lidar mapping and Navigation , please tell me how can i proceed with it for 3d lidar based navigation and mapping.

thank you

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**Author:** ![mehermvr](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/mehermvr/32/30461_2.png) [@mehermvr](https://discourse.openrobotics.org/u/mehermvr)\
**Post date:** [October 3, 2025, 6:55am UTC](https://discourse.openrobotics.org/t/3d-lidar-mapping-and-localization-for-livox-mid360/50395/2 "2025-10-03T06:55:02Z")

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This is probably not the appropriate location for this question.

But i can plug my lidar inertial odometry package which you can try: [GitHub - PRBonn/rko\_lio: A Robust Approach for LiDAR-Inertial Odometry Without Sensor-Specific Modelling](https://github.com/PRBonn/rko_lio)

Note that its odometry only. Not a slam system. (maybe i’ll have something in the future for that)

You can try kiss icp as well, which is lidar only odometry: [GitHub - PRBonn/kiss-icp: A LiDAR odometry pipeline that just works](https://github.com/PRBonn/kiss-icp)

or kiss-slam, lidar only slam: [GitHub - PRBonn/kiss-slam: A LiDAR SLAM system that just works](https://github.com/PRBonn/kiss-slam) (no ros version, but we’re working on it, soon:tm:)

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**Author:** ![li9i](https://avatars.discourse-cdn.com/v4/letter/l/779978/32.png) [@li9i](https://discourse.openrobotics.org/u/li9i)\
**Post date:** [October 3, 2025, 9:15am UTC](https://discourse.openrobotics.org/t/3d-lidar-mapping-and-localization-for-livox-mid360/50395/3 "2025-10-03T09:15:14Z")

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Hey, if we’re shamelessly plugging I’m happy to introduce to you a [robust lidar-only odometry ROS package specifically targeting 2D/3D LiDAR sensors with a 360 degree field of view called `fsm-lo`](https://github.com/fourier-scan-matcher/fsm-lo), which you can try as well.