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

arXiv:2609.25813 · cs.RO · Submitted 2026-09-22 · Read on arXiv

cs.RO

Submitted: 2026-09-22

Updated: 2026-09-22

Code: https://github.com/MOLAorg/mola

Terminology

• Benchmark — 7× in this paper · explained in 2 episodes
• Core — 4× in this paper · explained in 2 episodes
• Alignment — 2× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Trace — 1× in this paper · explained in 2 episodes

Sources

• GrandTour: A Legged Robotics Dataset in the Wild for Multi-Modal Perception and State Estimation
• A flexible framework for accurate LiDAR odometry, map manipulation, and localization

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