ResearchBenchmarksLiDAR-Inertial Odometry on HILTI Indoor 2021LiDAR-Inertial Odometry on HILTI Indoor 2021Follow0.05ATE RMSE (m)GenZ-LIO0.02680.18340.340.4966Mar 17, 2026Evaluation resultsMethodMethodLinksATE RMSE (m)Divergence Rate (%)GenZ-LIOSequence=Basement 04Sequence=Basement 042026.030.05—PV-LIOSequence=Basement 04,...Sequence=Basement 04, Variant=Adaptive voxel mapping2026.030.05—GenZ-LIOSequence=Drone ArenaSequence=Drone Arena2026.030.18—FAST-LIO2Sequence=Basement 04Sequence=Basement 042026.030.63—