ResearchBenchmarksLiDAR-inertial odometry on MCD NTU CAMPUSLiDAR-inertial odometry on MCD NTU CAMPUSFollow0.724APE RMSE Seq 01 (Day)R-LIO0.651841.138921.6262.11308Dec 22, 2025Evaluation resultsMethodMethodLinksAPE RMSE Seq 01 (Day)APE RMSE Seq 02 (Day)APE RMSE Seq 10 (Day)APE RMSE Seq 04 (Night)APE RMSE Seq 08 (Night)APE RMSE Seq 13 (Night)R-LIO2025.120.7240.1710.9740.6860.9760.649LIMO2025.120.8390.1562.9990.8381.3751.636F-LIO22025.122.5280.1885.1640.7672.5591.947