ResearchBenchmarksLiDAR-Inertial Odometry on M2DGR (gate.01)LiDAR-Inertial Odometry on M2DGR (gate.01)Follow100CR (%)LIO-SMF-4235077May 10, 2026Evaluation resultsMethodMethodLinksCR (%)LIO-SMF2026.05100PALocsigma^2=1sigma^2=12026.0598.019PALocsigma^2=0.1sigma^2=0.12026.0580.664PALocsigma^2=0.001sigma^2=0.0012026.0510.192LIO-EKFsigma^2=1sigma^2=12026.050.756FAST-LIO2sigma^2=0.001sigma^2=0.0012026.050FAST-LIO2sigma^2=0.1sigma^2=0.12026.050FAST-LIO2sigma^2=1sigma^2=12026.050LIO-EKFsigma^2=0.001sigma^2=0.0012026.050LIO-EKFsigma^2=0.1sigma^2=0.12026.050