A capture-sufficiency worksheet for LiDAR–IMU initialization, with method-specific excitation feedback and independent validation of a frozen calibration result.

A capture-sufficiency worksheet for LiDAR–IMU initialization, with method-specific excitation feedback and independent validation of a frozen calibration result.

A practical field-contract worksheet and repeat-test procedure for diagnosing FAST-LIO motion smear caused by incorrect point-time interpretation.