MOLA LiDAR-Inertial Odometry (MOLA-LIO) on the COMFORT Localization Benchmark
cs.RO
Submitted: 2026-09-22
Updated: 2026-09-22
Comments: 2 pages; IROS 2026 workshop
Code: https://github.com/MOLAorg/mola
License: http://creativecommons.org/licenses/by-nc-nd/4.0/
The gist: This short report documents our entry to the COMFORT Localization Benchmark (IROS 2026), evaluated on the GrandTour dataset recorded with the Boxi payload.
Terminology
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.
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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