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LiDAR-Inertial Odometry on SubT-MRS Indoor
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0.34
ATE RMSE (m)
GenZ-LIO
0.208
1.099
1.99
2.881
Mar 17, 2026
ATE RMSE (m)
Divergence Rate (%)
Updated 1mo ago
Evaluation Results
Method
Method
Links
ATE RMSE (m)
Divergence Rate (%)
GenZ-LIO
Sequence=Laurel Cavern
2026.03
0.34
-
PV-LIO
Sequence=Laurel Cavern...
2026.03
0.37
-
PV-LIO
Sequence=Laurel Cavern...
2026.03
0.39
-
PV-LIO
Sequence=Laurel Cavern...
2026.03
0.42
-
FAST-LIO2
Sequence=Long Corridor
2026.03
1.77
-
GenZ-LIO
Sequence=Long Corridor
2026.03
1.9
-
FAST-LIO2
Sequence=Laurel Cavern
2026.03
3.64
-
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