ResearchBenchmarksAbsolute Trajectory Error on Wheeled mobile robot (yard sequence)Absolute Trajectory Error on Wheeled mobile robot (yard sequence)Follow0.173ATE (m)LIO-SMF0.166160.212330.25850.30467May 10, 2026Evaluation resultsMethodMethodLinksATE (m)LIO-SMF2026.050.173LIO-SAM2026.050.215LIO-EKF2026.050.311PALocSigma squared (σ²)=0.001Sigma squared (σ²)=0.0012026.050.325FAST-LIO2Sigma squared (σ²)=0.001Sigma squared (σ²)=0.0012026.050.344