Preprint
Sep 2026
Does Online Gravity Estimation Matter? Revisiting a Silent Design Split in LiDAR-Inertial Odometry
LiDAR-inertial odometry (LIO) systems differ in whether they continue estimating gravity after initialization. We compare four gravity-bias state configurations in each of FAST-LIO2 and LIO-SAM, then separately test a gravity-direction factor. Across 12 dataset sequences evaluated with FAST-LIO2, fixing gravity under c...
Jie Xu, Zi-Yi Jin, Kang-Jin Yu et al.
· 0 citations