ResearchBenchmarksAbsolute Trajectory Error on Wheeled mobile robot (garden sequence)Absolute Trajectory Error on Wheeled mobile robot (garden sequence)Follow0.567Absolute Trajectory Error (m)LIO-SAM0.560440.604720.6490.69328May 10, 2026Evaluation resultsMethodMethodLinksAbsolute Trajectory Error (m)LIO-SAM2026.050.567LIO-SMF2026.050.635FAST-LIO2Sigma squared (σ²)=0.001Sigma squared (σ²)=0.0012026.050.658LIO-EKF2026.050.66PALocSigma squared (σ²)=0.001Sigma squared (σ²)=0.0012026.050.665FAST-LIO2Sigma squared (σ²)=0.1Sigma squared (σ²)=0.12026.050.731