原版 Global-LVBA 更偏向“LiDAR BA + Visual BA 的研究实现”；我们现在这版则是在尽量保留原版 LiDAR BA 的基础上，把视觉部分改得更保守、更稳定、更可诊断，并专门增加了一条面向 FAST-LIVO2 → Global-LVBA → 3DGS 的完整输出链路
☆13Sep 22, 2026Updated last month
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