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arXiv · 2609.25813

MOLA LiDAR-Inertial Odometry (MOLA-LIO) on the COMFORT Localization Benchmark

Jose Luis Blanco-Claraco
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Abstract

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, the streams consumed, the local protocol that selected the submitted configuration, and the measurements backing our real-time claim.

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Jose Luis Blanco-Claraco. 2026-09-22. MOLA LiDAR-Inertial Odometry (MOLA-LIO) on the COMFORT Localization Benchmark. https://arxiv.org/abs/2609.25813

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