ResearchBenchmarksCostmap Occupancy Estimation on LILocBenchCostmap Occupancy Estimation on LILocBenchFollow3,053Occupancy Count (cells)D†873.161,439.082,0052,570.92Mar 30, 2026Evaluation resultsMethodMethodLinksOccupancy Count (cells)Standard DeviationPercentage ChangeD†Config=D† (LEARNED MON...Config=D† (LEARNED MONOCULAR DEPTH)2026.033,053643219L+D+dynConfig=L+D+dyn (L+D +...Config=L+D+dyn (L+D + DYNAMIC INFLATION)2026.032,115368122L+DConfig=L+D (LIDAR + LE...Config=L+D (LIDAR + LEARNED MONOCULAR DEPTH)2026.032,000431110L+SConfig=L+S (LIDAR + HA...Config=L+S (LIDAR + HARDWARE DEPTH)2026.031,10628516LConfig=L (LIDAR)Config=L (LIDAR)2026.03957——