ResearchBenchmarksAbsolute Trajectory Error on Wheeled mobile robot (fountain sequence)Absolute Trajectory Error on Wheeled mobile robot (fountain sequence)Follow0.773ATE (m)LIO-SAM0.76760.804050.84050.87695May 10, 2026Evaluation resultsMethodMethodLinksATE (m)LIO-SAM2026.050.773FAST-LIO2Sigma squared (σ²)=0.001Sigma squared (σ²)=0.0012026.050.828LIO-SMF2026.050.828LIO-EKF2026.050.841PALocSigma squared (σ²)=0.001Sigma squared (σ²)=0.0012026.050.908