Does Online Gravity Estimation Matter? Revisiting a Silent Design Split in LiDAR-Inertial Odometry

arXiv:2609.13675 · cs.RO · Submitted 2026-09-12 · Read on arXiv

cs.RO

Submitted: 2026-09-12

Updated: 2026-09-22

Comments: 8 pages, 5 figures. Code, evidence, and video: https://github.com/jiejie567/rethink-lio-gravity

Code: https://github.com/jiejie567/rethink-lio-gravity

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Accuracy — 13× in this paper · explained in 1 episode
• Ablation — 10× in this paper · explained in 1 episode
• Calibration — 8× in this paper · explained in 7 episodes
• Trace — 7× in this paper · explained in 2 episodes
• Consistency — 6× in this paper · explained in 3 episodes
• Core — 3× in this paper · explained in 2 episodes
• Robustness — 3× in this paper · explained in 5 episodes
• Alignment — 2× in this paper · explained in 1 episode
• Benchmark — 2× in this paper · explained in 2 episodes
• Degeneracy — 2× in this paper · explained in 3 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Superadditivity — 1× in this paper · explained in 2 episodes

Sources

• ikd-Tree: An Incremental K-D Tree for Robotic Applications
• GaRLIO: Gravity enhanced Radar-LiDAR-Inertial Odometry
• GaRLILEO: Gravity-aligned Radar-Leg-Inertial Enhanced Odometry
• Elevator-LIO: Robust LiDAR-Inertial Odometry for Multi-Floor Navigation under Elevator-Induced Non-Inertial Motion
• LION: Lidar-Inertial Observability-Aware Navigator for Vision-Denied Environments
• D$^2$-LIO: Enhanced Optimization for LiDAR-IMU Odometry Considering Directional Degeneracy
• Kalman Filters on Differentiable Manifolds

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