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In the presence of interval censoring, estimation depends on more complex estimators such as the nonparametric maximum likelihood estimator.
As a more simplistic (yet sometimes realistic on average) alternative, one could impute the outcome time as the midpoint between the interval margins, $t_i = (l_i + r_i)/2$ [@Gadda2016].
As left-censoring is a specialised case of interval-censoring (with $l_i = 0$) the above formulae can be used to handle left-censored data as well.