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LiDAR-Inertial Odometry

Benchmarks

Dataset Name	SOTA Method	Metric
M3DGR Livox Mid360 v1.0 (test)	Fast-LIO2	APE0.161	30	1mo ago
M3DGR Livox AVIA v1.0 (test)	Fast-LIO2	APE0.102	30	1mo ago
avia Real-World	R-VoxelMap	E2E Error (m)0.013	8	1mo ago
SubT-MRS Indoor	GenZ-LIO	ATE RMSE (m)0.34	7	1mo ago
MARSIM mid_TUHH Simulation	EVA-LIO	ATE (m)0.07	7	1mo ago
MARSIM mid_KTH Simulation	EVA-LIO	ATE (m)0.16	7	1mo ago
MARSIM mid_NTU Simulation	EVA-LIO	ATE (m)0.2	7	1mo ago
MCD (tuhh_day_03)	EVA-LIO	ATE (m)0.76	7	1mo ago
MCD (kth_day_06)	EVA-LIO	Absolute Trajectory Error (m)0.39	7	1mo ago
MCD (ntu_day_01)	Fast-LIO2	ATE (m)1.54	7	1mo ago
Authors' Custom Dataset (CW, CCW, mid)	SE(3)-LIO	ATE RMSE (CCW)15.86	6	1mo ago
Newer-College (quad-D, quad-M, quad-H, math-H)	SE(3)-LIO	RMSE ATE (quad-D)0.128	6	1mo ago
NTU-VIRAL (eee, nya, rtp, sbs, tnp, spms)	SE(3)-LIO	ATE RMSE (eee)0.246	6	1mo ago
Monte Carlo Simulation	FF-LINS	Translation Error (%)20	6	1mo ago
MARSIM mid_BG Simulation	EVA-LIO	ATE (m)0.27	6	1mo ago
MARSIM mid_CA (Simulation)	EVA-LIO	ATE (m)0.11	6	1mo ago
SuperLoc Indoor	GenZ-LIO	ATE RMSE (m)0.12	5	1mo ago
NTU-VIRAL	FAST-LIO2	EEE16.02	5	1mo ago
Real-world Flight Sequence 6	Super-LIO	Latency (ms)11.08	5	1mo ago
Real-world Flight Sequence 5	Super-LIO	Average processing time per scan (ms)12.66	5	1mo ago
Real-world Flight Sequence 4	Super-LIO	Average processing time (ms)17.16	5	1mo ago
Real-world Flight Sequence 3	Super-LIO	Latency (ms)16.83	5	1mo ago
Real-world Flight Sequence 2	Super-LIO	Average Processing Time (ms)17.28	5	1mo ago
Real-world flight trajectories (seq6)	MSCKF-based LIO	Memory Usage (MB)106.77	5	1mo ago
Real-world flight trajectories (seq5)	MSCKF-based LIO	Memory Usage (MB)106.45	5	1mo ago

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