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LiDAR-Inertial Odometry on NTU-VIRAL (eee, nya, rtp, sbs, tnp, spms)
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0.246
ATE RMSE (eee)
SE(3)-LIO
0.22496
0.36698
0.509
0.65102
Mar 17, 2026
ATE RMSE (eee)
ATE RMSE (nya)
ATE RMSE (rtp)
ATE RMSE (sbs)
ATE RMSE (tnp)
ATE RMSE (spms)
Updated 1mo ago
Evaluation Results
Method
Method
Links
ATE RMSE (eee)
ATE RMSE (nya)
ATE RMSE (rtp)
ATE RMSE (sbs)
ATE RMSE (tnp)
ATE RMSE (spms)
SE(3)-LIO
2026.03
0.246
0.253
0.204
0.268
0.238
0.321
FAST-LIO2
2026.03
0.25
0.256
0.276
0.27
0.244
3.12
MA-LIO
2026.03
0.252
0.256
2.32
0.268
0.248
0.464
DLIO
2026.03
0.254
0.269
0.231
0.286
0.258
0.423
PV-LIO
2026.03
0.579
0.404
1.71
0.753
0.74
-
LIO-EKF
2026.03
0.772
0.479
1.04
0.308
0.365
2.45
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