Please do not open a public issue for security vulnerabilities. Report privately to the repository maintainer (Huashuijingying 1098763683@qq.com) via email, and include:

• a description of the vulnerability and the affected version/commit;
• steps to reproduce;
• impact assessment if known.

We will acknowledge receipt within 3 business days and aim to respond with a remediation plan within 14 days.

This is a research reproduction. Vulnerabilities in the upstream FAST-LIVO2 code base should be reported to its maintainers; issues specific to this reproduction should be reported here.