Usage without prior ego-motion estimate

[Pallav1299]

Hi, @HuajieWu99 @XW-HKU @Ecstasy-EC. Kudos for the great work.

Supplementary Information document states that:

For input, M-detector accepts either an individual point or a frame of
points, with the sensor ego-motion compensated in advance. The result of ego-
motion compensation can be provided by a LiDAR-based odometry or a full
Simultaneous localization and mapping (SLAM) system.

• If that is the case, won't the ego-motion estimate from LiDAR-based odometry/SLAM be untrustworthy due to dynamic objects in the raw pointcloud data?
• What's the impact of additional uncertainity in position estimate from LiDAR-based odometry/SLAM due to dynamic events on M-detector's performance?
• Can we use M-detector without prior ego motion information(e.g. from FAST_LIO)? Or, Use it as a preprocessing module which removes dynamic events from the pointcloud given to LiDAR-based odometry/SLAM?
• Is robust localization also a use case? Or, mapping only?