ResearchBenchmarksLiDAR-inertial Odometry on Livox Mid-360 seq. 2Follow100CRPALoc-4235077May 10, 2026Evaluation ResultsMethodMethodLinksCRAILPALocsigma^2=0.1sigma^2=0.12026.051003.909PALocsigma^2=1sigma^2=12026.051008.65LIO-SMF2026.051001.788PALocsigma^2=0.001sigma^2=0.0012026.0582.609—FAST-LIO2sigma^2=1sigma^2=12026.0517.217—FAST-LIO2sigma^2=0.1sigma^2=0.12026.052.435—FAST-LIO2sigma^2=0.001sigma^2=0.0012026.050—