# LiDAR-Inertial Odometry on Authors' Custom Dataset (CW, CCW, mid) Source: [LiDAR-Inertial Odometry on Authors' Custom Dataset (CW, CCW, mid)]() Collection index: [llms.txt]() Data updated: 2026-03-18T08:11:47.023Z Evaluation of LiDAR-Inertial Odometry performance on the Authors' Custom Dataset, reporting Absolute Trajectory Error (ATE) for the CW, CCW, and mid sequences. A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. | Scope | Recorded value | | --- | --- | | Task | LiDAR-Inertial Odometry | | Dataset (including any stated split) | Authors' Custom Dataset (CW, CCW, mid) | | Metric | ATE RMSE (CCW) | | Unit | SCALAR | | Direction | Lower is better | | Results loaded | 6 of 6 | | Coverage | All results currently returned for this benchmark | Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol. ## Metrics - [ATE RMSE (CCW)](): Lower is better; unit: SCALAR. - [ATE RMSE (CW)](): Lower is better; unit: SCALAR. - [ATE RMSE (mid)](): Lower is better; unit: SCALAR. ## Recorded results | Method | ATE RMSE (CCW) | Result date | Report paper | | --- | --- | --- | --- | | SE(3)-LIO | 15.86 | Not recorded | 69ba31ab0636e5bf4afc09b5 | | FAST-LIO2 | 17.08 | Not recorded | 69ba31ab0636e5bf4afc09b5 | | PV-LIO | 21.62 | Not recorded | 69ba31ab0636e5bf4afc09b5 | | MA-LIO | 27.77 | Not recorded | 69ba31ab0636e5bf4afc09b5 | | LIO-EKF | 40.35 | Not recorded | 69ba31ab0636e5bf4afc09b5 | | DLIO | 43.04 | Not recorded | 69ba31ab0636e5bf4afc09b5 | ### SE(3)-LIO ATE RMSE (CCW): 15.86. Result ID: 69ba5de247f34ce924a41bce. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### FAST-LIO2 ATE RMSE (CCW): 17.08. Result ID: 69ba5de247f34ce924a41bc9. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### PV-LIO ATE RMSE (CCW): 21.62. Result ID: 69ba5de247f34ce924a41bca. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### MA-LIO ATE RMSE (CCW): 27.77. Result ID: 69ba5de247f34ce924a41bcd. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### LIO-EKF ATE RMSE (CCW): 40.35. Result ID: 69ba5de247f34ce924a41bcc. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### DLIO ATE RMSE (CCW): 43.04. Result ID: 69ba5de247f34ce924a41bcb. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.