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This is an optimized implementation of the algorithm described in the following paper:
	J. Zhang and S. Singh. LOAM: Lidar Odometry and Mapping in Real-time.
	Robotics: Science and Systems Conference (RSS). Berkeley, CA, July 2014. 

And this work is modified based on Advanced implementation of LOAM (A-LOAM) by 
Tong Qin               qintonguav@gmail.com
Shaozu Cao 		 saozu.cao@connect.ust.hk

Author of FLOAM
Wang Han 
Nanyang Technological University, Singapore
Email: wh200720041@gmail.com 
Homepage: https://wanghan.pro

Copyright 2013, Ji Zhang, Carnegie Mellon University
Further contributions copyright (c) 2016, Southwest Research Institute
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