ResearchBenchmarksLiDAR-based Odometry on HIT Graffiti Wall 2LiDAR-based Odometry on HIT Graffiti Wall 2Follow11.5End-to-end Error (m)ALIVE-LIO8.634827.974947.31566.6551Apr 3, 2026Evaluation resultsMethodMethodLinksEnd-to-end Error (m)ALIVE-LIOCO=falseCO=false2026.0411.5ALIVE-LIOCO=trueCO=true2026.0411.76PV-LIOCO=trueCO=true2026.0483.13