LiDAR-Inertial Odometry

Benchmarks

Dataset Name	SOTA Method	Metric
M3DGR Livox Mid360 v1.0 (test)	Fast-LIO2	APE0.161	30	3mo ago
M3DGR Livox AVIA v1.0 (test)	Fast-LIO2	APE0.102	30	3mo ago
M2DGR (gate.01)	LIO-SMF	CR (%)100	10	22d ago
M2DGR Average	LIO-SMF	CR (%)100	10	22d ago
avia Real-World	R-VoxelMap	E2E Error (m)0.013	8	3mo ago
Livox Mid-360 seq. 3	PALoc	CR100	7	22d ago
Livox Mid-360 seq. 2	PALoc	CR100	7	22d ago
Livox Mid-360 seq. 1	FAST-LIO2	CR Error (Seq 1)0	7	22d ago
SubT-MRS Indoor	GenZ-LIO	ATE RMSE (m)0.34	7	2mo ago
MARSIM mid_TUHH Simulation	EVA-LIO	ATE (m)0.07	7	3mo ago
MARSIM mid_KTH Simulation	EVA-LIO	ATE (m)0.16	7	3mo ago
MARSIM mid_NTU Simulation	EVA-LIO	ATE (m)0.2	7	3mo ago
MCD (tuhh_day_03)	EVA-LIO	ATE (m)0.76	7	3mo ago
MCD (kth_day_06)	EVA-LIO	Absolute Trajectory Error (m)0.39	7	3mo ago
MCD (ntu_day_01)	Fast-LIO2	ATE (m)1.54	7	3mo ago
Authors' Custom Dataset (CW, CCW, mid)	SE(3)-LIO	ATE RMSE (CCW)15.86	6	2mo ago
Newer-College (quad-D, quad-M, quad-H, math-H)	SE(3)-LIO	RMSE ATE (quad-D)0.128	6	2mo ago
NTU-VIRAL (eee, nya, rtp, sbs, tnp, spms)	SE(3)-LIO	ATE RMSE (eee)0.246	6	2mo ago
Monte Carlo Simulation	FF-LINS	Translation Error (%)20	6	2mo ago
MARSIM mid_BG Simulation	EVA-LIO	ATE (m)0.27	6	3mo ago
MARSIM mid_CA (Simulation)	EVA-LIO	ATE (m)0.11	6	3mo ago
SuperLoc Indoor	GenZ-LIO	ATE RMSE (m)0.12	5	2mo ago
NTU-VIRAL	FAST-LIO2	EEE16.02	5	2mo ago
Real-world Flight Sequence 6	Super-LIO	Latency (ms)11.08	5	2mo ago
Real-world Flight Sequence 5	Super-LIO	Average processing time per scan (ms)12.66	5	2mo ago

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