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MOLA LiDAR-Inertial Odometry (MOLA-LIO) on the COMFORT Localization Benchmark
This short report documents our entry to the COMFORT Localization Benchmark (IROS 2026), evaluated on the GrandTour dataset recorded with the Boxi payload. It extends MOLA-LO into a LiDAR-inertial system that also ingests IMU and, optionally, legged kinematic odometry. We describe the architecture,
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