@article{consistentandefficientmsckfbasedlidarine,
  title = {Consistent and Efficient MSCKF-based LiDAR-Inertial Odometry with Inferred Cluster-to-Plane Constraints for UAVs},
  author = {Jinwen Zhu and Xudong Zhao and Fangcheng Zhu and Jun Hu and Shi Jin and Yinian Mao and Guoquan Huang},
  year = {2026},
  eprint = {2603.12904},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2603.12904},
}