# LiDAR-inertial Odometry on M3DGR Livox AVIA v1.0 (test) Source: [LiDAR-inertial Odometry on M3DGR Livox AVIA v1.0 (test)]() Collection index: [llms.txt]() Data updated: 2026-02-26T05:23:28.235Z Evaluation of LiDAR-Inertial Odometry performance on the test split of the M3DGR Livox AVIA v1.0 dataset, reporting APE and FPS. A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. | Scope | Recorded value | | --- | --- | | Task | LiDAR-inertial Odometry | | Dataset (including any stated split) | M3DGR Livox AVIA v1.0 (test) | | Metric | APE | | Unit | SCALAR | | Direction | Lower is better | | Results loaded | 30 of 30 | | Coverage | All results currently returned for this benchmark | Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol. ## Metrics - [APE](): Lower is better; unit: SCALAR. - [FPS](): Higher is better; unit: SCALAR. ## Recorded results | Method | APE | Result date | Report paper | | --- | --- | --- | --- | | Fast-LIO2 | 0.102 | Not recorded | 69311563d6b0dd33429339ca | | Surfel-LIO | 0.118 | Not recorded | 69311563d6b0dd33429339ca | | Faster-LIO | 0.119 | Not recorded | 69311563d6b0dd33429339ca | | Surfel-LIO | 0.125 | Not recorded | 69311563d6b0dd33429339ca | | Faster-LIO | 0.151 | Not recorded | 69311563d6b0dd33429339ca | | Fast-LIO2 | 0.165 | Not recorded | 69311563d6b0dd33429339ca | | Surfel-LIO | 0.167 | Not recorded | 69311563d6b0dd33429339ca | | Faster-LIO | 0.207 | Not recorded | 69311563d6b0dd33429339ca | | Faster-LIO | 0.223 | Not recorded | 69311563d6b0dd33429339ca | | Fast-LIO2 | 0.257 | Not recorded | 69311563d6b0dd33429339ca | | Fast-LIO2 | 0.258 | Not recorded | 69311563d6b0dd33429339ca | | Faster-LIO | 0.261 | Not recorded | 69311563d6b0dd33429339ca | | Surfel-LIO | 0.266 | Not recorded | 69311563d6b0dd33429339ca | | Surfel-LIO | 0.271 | Not recorded | 69311563d6b0dd33429339ca | | Fast-LIO2 | 0.279 | Not recorded | 69311563d6b0dd33429339ca | | Faster-LIO | 0.283 | Not recorded | 69311563d6b0dd33429339ca | | Surfel-LIO | 0.295 | Not recorded | 69311563d6b0dd33429339ca | | Faster-LIO | 0.337 | Not recorded | 69311563d6b0dd33429339ca | | Faster-LIO | 0.362 | Not recorded | 69311563d6b0dd33429339ca | | Surfel-LIO | 0.365 | Not recorded | 69311563d6b0dd33429339ca | | Surfel-LIO | 0.392 | Not recorded | 69311563d6b0dd33429339ca | | Fast-LIO2 | 0.397 | Not recorded | 69311563d6b0dd33429339ca | | Fast-LIO2 | 0.402 | Not recorded | 69311563d6b0dd33429339ca | | Fast-LIO2 | 0.479 | Not recorded | 69311563d6b0dd33429339ca | | Faster-LIO | 0.645 | Not recorded | 69311563d6b0dd33429339ca | | Surfel-LIO | 0.692 | Not recorded | 69311563d6b0dd33429339ca | | Fast-LIO2 | 0.729 | Not recorded | 69311563d6b0dd33429339ca | | Fast-LIO2 | 0.897 | Not recorded | 69311563d6b0dd33429339ca | | Surfel-LIO | 0.961 | Not recorded | 69311563d6b0dd33429339ca | | Faster-LIO | 1.032 | Not recorded | 69311563d6b0dd33429339ca | ### Fast-LIO2 APE: 0.102. Result ID: 6999f6975698665ec477c39d. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sequence":"Varying-illu04"}. This record does not assert independent reproduction. ### Surfel-LIO APE: 0.118. Result ID: 6999f6975698665ec477c38a. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sequence":"Dark01"}. This record does not assert independent reproduction. ### Faster-LIO APE: 0.119. Result ID: 6999f6975698665ec477c39e. [Reporting paper]() Recorded evaluation configuration: {"Sequence":"Varying-illu04"}. This record does not assert independent reproduction. ### Surfel-LIO APE: 0.125. Result ID: 6999f6975698665ec477c39f. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sequence":"Varying-illu04"}. This record does not assert independent reproduction. ### Faster-LIO APE: 0.151. Result ID: 6999f6975698665ec477c38f. [Reporting paper]() Recorded evaluation configuration: {"Sequence":"Dynamic03"}. This record does not assert independent reproduction. ### Fast-LIO2 APE: 0.165. Result ID: 6999f6975698665ec477c38e. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sequence":"Dynamic03"}. This record does not assert independent reproduction. ### Surfel-LIO APE: 0.167. Result ID: 6999f6975698665ec477c3a2. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sequence":"Varying-illu05"}. This record does not assert independent reproduction. ### Faster-LIO APE: 0.207. Result ID: 6999f6975698665ec477c3a1. [Reporting paper]() Recorded evaluation configuration: {"Sequence":"Varying-illu05"}. This record does not assert independent reproduction. ### Faster-LIO APE: 0.223. Result ID: 6999f6975698665ec477c389. [Reporting paper]() Recorded evaluation configuration: {"Sequence":"Dark01"}. This record does not assert independent reproduction. ### Fast-LIO2 APE: 0.257. Result ID: 6999f6975698665ec477c394. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sequence":"Occlusion03"}. This record does not assert independent reproduction. ### Fast-LIO2 APE: 0.258. Result ID: 6999f6975698665ec477c388. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sequence":"Dark01"}. This record does not assert independent reproduction. ### Faster-LIO APE: 0.261. Result ID: 6999f6975698665ec477c392. [Reporting paper]() Recorded evaluation configuration: {"Sequence":"Dynamic04"}. This record does not assert independent reproduction. ### Surfel-LIO APE: 0.266. Result ID: 6999f6975698665ec477c390. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sequence":"Dynamic03"}. This record does not assert independent reproduction. ### Surfel-LIO APE: 0.271. Result ID: 6999f6975698665ec477c396. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sequence":"Occlusion03"}. This record does not assert independent reproduction. ### Fast-LIO2 APE: 0.279. Result ID: 6999f6975698665ec477c391. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sequence":"Dynamic04"}. This record does not assert independent reproduction. ### Faster-LIO APE: 0.283. Result ID: 6999f6975698665ec477c395. [Reporting paper]() Recorded evaluation configuration: {"Sequence":"Occlusion03"}. This record does not assert independent reproduction. ### Surfel-LIO APE: 0.295. Result ID: 6999f6975698665ec477c399. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sequence":"Occlusion04"}. This record does not assert independent reproduction. ### Faster-LIO APE: 0.337. Result ID: 6999f6975698665ec477c398. [Reporting paper]() Recorded evaluation configuration: {"Sequence":"Occlusion04"}. This record does not assert independent reproduction. ### Faster-LIO APE: 0.362. Result ID: 6999f6975698665ec477c3a4. [Reporting paper]() Recorded evaluation configuration: {"Sequence":"Average"}. This record does not assert independent reproduction. ### Surfel-LIO APE: 0.365. Result ID: 6999f6975698665ec477c3a5. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sequence":"Average"}. This record does not assert independent reproduction. ### Surfel-LIO APE: 0.392. Result ID: 6999f6975698665ec477c393. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sequence":"Dynamic04"}. This record does not assert independent reproduction. ### Fast-LIO2 APE: 0.397. Result ID: 6999f6975698665ec477c3a3. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sequence":"Average"}. This record does not assert independent reproduction. ### Fast-LIO2 APE: 0.402. Result ID: 6999f6975698665ec477c3a0. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sequence":"Varying-illu05"}. This record does not assert independent reproduction. ### Fast-LIO2 APE: 0.479. Result ID: 6999f6975698665ec477c397. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sequence":"Occlusion04"}. This record does not assert independent reproduction. ### Faster-LIO APE: 0.645. Result ID: 6999f6975698665ec477c38c. [Reporting paper]() Recorded evaluation configuration: {"Sequence":"Dark02"}. This record does not assert independent reproduction. ### Surfel-LIO APE: 0.692. Result ID: 6999f6975698665ec477c38d. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sequence":"Dark02"}. This record does not assert independent reproduction. ### Fast-LIO2 APE: 0.729. Result ID: 6999f6975698665ec477c38b. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sequence":"Dark02"}. This record does not assert independent reproduction. ### Fast-LIO2 APE: 0.897. Result ID: 6999f6975698665ec477c39a. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sequence":"Varying-illu03"}. This record does not assert independent reproduction. ### Surfel-LIO APE: 0.961. Result ID: 6999f6975698665ec477c39c. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sequence":"Varying-illu03"}. This record does not assert independent reproduction. ### Faster-LIO APE: 1.032. Result ID: 6999f6975698665ec477c39b. [Reporting paper]() Recorded evaluation configuration: {"Sequence":"Varying-illu03"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.