<aside> <img src="/icons/arrow-down-line_gray.svg" alt="/icons/arrow-down-line_gray.svg" width="40px" /> 2026/03/26

Exwayz 3D Mapping 1.3.1

Changelog

• exwayz_slam and lidar_viewer: New LiDAR sensors & data formats support
  • Robosense E1R sensor.
  • --innoviz-mf4 input dataset type to handle Innvoiz MF4 files.
  • Rosbag exwayz_msgs/msg/Packet topic type for Livox and Robosense.
• exwayz_slam:
  • Divide by ~2 the RAM usage.
  • Introduce intensity filter (based on min and max values) in the pre_process step.
  • center_sph shall now be provided as a pose YAML node, thus allowing loading from a calibration.
• Change LAS I/O backed:
  • Speedup LAS write x4.
  • Support reading LAS format 1.5.
  • ⚠️ LAZ format is not supported anymore and will be added back in future releases.
• Improve ground classification and map cleaner performances on edge-cases.

Deb Installer

Linux (Ubuntu 24.04)

x86_64: exwayz_3d_mapping-1.3.1-linux-u24.04-amd64.deb

ARMv8: exwayz_3d_mapping-1.3.1-linux-u24.04-aarch64.deb

Linux (Ubuntu 20.04 & 22.04)

x86_64: exwayz_3d_mapping-1.3.1-linux-u20.04-amd64.deb

ARMv8: exwayz_3d_mapping-1.3.1-linux-u20.04-aarch64.deb

Archive Installer

Linux (Ubuntu 24.04)

x86_64: exwayz_3d_mapping-1.3.1-linux-u24.04-amd64.tar.gz

ARMv8: exwayz_3d_mapping-1.3.1-linux-u24.04-aarch64.tar.gz

Linux (Ubuntu 20.04 & 22.04)

x86_64: exwayz_3d_mapping-1.3.1-linux-u20.04-amd64.tar.gz

ARMv8: exwayz_3d_mapping-1.3.1-linux-u20.04-aarch64.tar.gz

Windows

x86_64: exwayz_3d_mapping-1.3.1-win64-amd64.zip

</aside>

<aside> <img src="https://www.notion.so/icons/arrow-down-line_gray.svg" alt="https://www.notion.so/icons/arrow-down-line_gray.svg" width="40px" /> 2026/02/23

Exwayz 3D Mapping 1.2.4

Changelog

• exwayz_slam and lidar_viewer: New LiDAR sensors support
  • Hesai AT128.
  • Hesai ATX.
  • Improved Innoviz Two sensor support.
• exwayz_ground_classification and exwayz_map_cleaner use new buffer strategy with d_update to lighten RAM usage.
• exwayz_ground_classification robustness improvement against ego-vehicle platform and dynamyc object trails
• Support RGB input / output when post-processing LAS files with Exwayz binaries (exwayz_subampling for instance).
• Support for begin / end program arguments with all PCAP datasets.

Deb Installer

Linux (Ubuntu 24.04)

x86_64: exwayz_3d_mapping-1.2.4-linux-u24.04-amd64.deb

ARMv8: exwayz_3d_mapping-1.2.4-linux-u24.04-aarch64.deb

Linux (Ubuntu 20.04 & 22.04)

x86_64: exwayz_3d_mapping-1.2.4-linux-u20.04-amd64.deb

ARMv8: exwayz_3d_mapping-1.2.4-linux-u20.04-aarch64.deb

Archive Installer

Linux (Ubuntu 24.04)

x86_64: exwayz_3d_mapping-1.2.4-linux-u24.04-amd64.tar.gz

ARMv8: exwayz_3d_mapping-1.2.4-linux-u24.04-aarch64.tar.gz

Linux (Ubuntu 20.04 & 22.04)

x86_64: exwayz_3d_mapping-1.2.4-linux-u20.04-amd64.tar.gz

ARMv8: exwayz_3d_mapping-1.2.4-linux-u20.04-aarch64.tar.gz

Windows

x86_64: exwayz_3d_mapping-1.2.4-win64-amd64.zip

</aside>

<aside> <img src="https://www.notion.so/icons/arrow-down-line_gray.svg" alt="https://www.notion.so/icons/arrow-down-line_gray.svg" width="40px" /> 2025/10/23

Exwayz 3D Mapping 1.1.6

Changelog

• Handle Ouster NIR and signal fields.
• Handle VelodyneScan (raw packets) message parsing for rosbags (--bag-velodyne program argument).
• Add num_accum feature to Luminar decoder.
• Support for Hesai JT16.
• Support for Robosense Airy.
• exwayz_slam writes trajectory every 12k frames.
• exwayz_georef has a new --gps-sampling-mode option for setting interpolation mode (nearest or linear, default is linear).
• ⚠️ Critical bugfix: fixed memory leak due to the use of standard library parallel sort functions in SLAM and Relocalization (does not impact u18 releases).

Deb Installer

Linux (Ubuntu 24.04)

x86_64: exwayz_3d_mapping-1.1.6-linux-u24.04-amd64.deb

ARMv8: exwayz_3d_mapping-1.1.6-linux-u24.04-aarch64.deb

Linux (Ubuntu 20.04 & 22.04)

x86_64: exwayz_3d_mapping-1.1.6-linux-u20.04-amd64.deb

ARMv8: exwayz_3d_mapping-1.1.6-linux-u20.04-aarch64.deb

Archive Installer

Linux (Ubuntu 24.04)

x86_64: exwayz_3d_mapping-1.1.6-linux-u24.04-amd64.tar.gz

ARMv8: exwayz_3d_mapping-1.1.6-linux-u24.04-aarch64.tar.gz

Linux (Ubuntu 20.04 & 22.04)

x86_64: exwayz_3d_mapping-1.1.6-linux-u20.04-amd64.tar.gz

ARMv8: exwayz_3d_mapping-1.1.6-linux-u20.04-aarch64.tar.gz

Windows

x86_64: exwayz_3d_mapping-1.1.6-win64-amd64.zip

</aside>

<aside> <img src="https://www.notion.so/icons/arrow-down-line_gray.svg" alt="https://www.notion.so/icons/arrow-down-line_gray.svg" width="40px" /> 2025/07/20

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