# LiDAR-Inertial Odometry on Newer-College (quad-D, quad-M, quad-H, math-H) Source: [LiDAR-Inertial Odometry on Newer-College (quad-D, quad-M, quad-H, math-H)]() Collection index: [llms.txt]() Data updated: 2026-03-18T08:11:46.984Z Evaluation of LiDAR-Inertial Odometry performance on the Newer-College dataset, reporting RMSE of Absolute Trajectory Error (ATE) across the quad-D, quad-M, quad-H, and math-H sequences/configurations. 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) | Newer-College (quad-D, quad-M, quad-H, math-H) | | Metric | RMSE ATE (quad-D) | | Unit | SCALAR | | Direction | Lower is better | | Results loaded | 6 of 6 | | 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 - [RMSE ATE (quad-D)](): Lower is better; unit: SCALAR. - [RMSE ATE (quad-M)](): Lower is better; unit: SCALAR. - [RMSE ATE (quad-H)](): Lower is better; unit: SCALAR. - [RMSE ATE (math-H)](): Lower is better; unit: SCALAR. ## Recorded results | Method | RMSE ATE (quad-D) | Result date | Report paper | | --- | --- | --- | --- | | SE(3)-LIO | 0.128 | Not recorded | 69ba31ab0636e5bf4afc09b5 | | PV-LIO | 0.135 | Not recorded | 69ba31ab0636e5bf4afc09b5 | | DLIO | 0.15 | Not recorded | 69ba31ab0636e5bf4afc09b5 | | MA-LIO | 0.156 | Not recorded | 69ba31ab0636e5bf4afc09b5 | | FAST-LIO2 | 0.356 | Not recorded | 69ba31ab0636e5bf4afc09b5 | | LIO-EKF | 2.48 | Not recorded | 69ba31ab0636e5bf4afc09b5 | ### SE(3)-LIO RMSE ATE (quad-D): 0.128. Result ID: 69ba5de247f34ce924a41bc8. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### PV-LIO RMSE ATE (quad-D): 0.135. Result ID: 69ba5de247f34ce924a41bc4. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### DLIO RMSE ATE (quad-D): 0.15. Result ID: 69ba5de247f34ce924a41bc5. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### MA-LIO RMSE ATE (quad-D): 0.156. Result ID: 69ba5de247f34ce924a41bc7. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### FAST-LIO2 RMSE ATE (quad-D): 0.356. Result ID: 69ba5de247f34ce924a41bc3. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### LIO-EKF RMSE ATE (quad-D): 2.48. Result ID: 69ba5de247f34ce924a41bc6. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.