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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, fi
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