ResearchBenchmarksLiDAR-based Odometry on CBD Building 3LiDAR-based Odometry on CBD Building 3Follow0.01End-to-end Error (m)PV-LIO-1.28927.480416.2525.0196Apr 3, 2026Evaluation resultsMethodMethodLinksEnd-to-end Error (m)PV-LIO2026.040.01PV-LIOCO=trueCO=true2026.040.01ALIVE-LIOCO=trueCO=true2026.040.01ALIVE-LIOCO=falseCO=false2026.040.83FAST-LIO22026.0411.86GenZ-ICP2026.0432.49