ResearchBenchmarksLiDAR-inertial odometry on Livox Mid-360 seq. 3Follow100CRPALoc-4235077May 10, 2026Evaluation ResultsMethodMethodLinksCRAILPALocsigma^2=0.1sigma^2=0.12026.051002.729PALocsigma^2=1sigma^2=12026.051006.425LIO-SMF2026.051001.77PALocsigma^2=0.001sigma^2=0.0012026.0572.425—FAST-LIO2sigma^2=1sigma^2=12026.0514.286—FAST-LIO2sigma^2=0.1sigma^2=0.12026.050.997—FAST-LIO2sigma^2=0.001sigma^2=0.0012026.050—