ResearchBenchmarksLiDAR-Inertial Odometry on GEODE (Outdoor)LiDAR-Inertial Odometry on GEODE (Outdoor)Follow0.3ATE (RMSE) [m]GenZ-LIO0.14921.16712.1853.2029Mar 17, 2026Evaluation resultsMethodMethodLinksATE (RMSE) [m]Divergence Rate (%)GenZ-LIOSequence=Offroad-02Sequence=Offroad-022026.030.3—LIO-EKFSequence=Waterways-ShortSequence=Waterways-Short2026.030.64—GenZ-LIOSequence=Waterways-ShortSequence=Waterways-Short2026.031.4—GenZ-LIOSequence=Waterways-MediumSequence=Waterways-Medium2026.034.07—