LiDAR-Inertial Odometry on NTU-VIRAL (eee, nya, rtp, sbs, tnp, spms)
0.029ATE RMSE (m)LXD-SLAM
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| LXD-SLAMSensor Configuration=LiDAR-IMU2026.06 | 0.029 | — | — | — | — | — | — | |
| LXD-SLAMSensor Configuration=LiDAR-IMU-Camera2026.06 | 0.029 | — | — | — | — | — | — | |
| LXD-SLAMSensor Configuration=LiDAR-IMU-Camera2026.06 | 0.034 | — | — | — | — | — | — | |
| LXD-SLAMSensor Configuration=LiDAR-IMU2026.06 | 0.038 | — | — | — | — | — | — | |
| LXD-SLAMSensor Configuration=LiDAR-LiDAR2026.06 | 0.051 | — | — | — | — | — | — | |
| Fast-LIVO2Sensor Configuration=LiDAR-IMU-Camera2026.06 | 0.051 | — | — | — | — | — | — | |
| R3LIVESensor Configuration=LiDAR-IMU-Camera2026.06 | 0.059 | — | — | — | — | — | — | |
| LXD-SLAMSensor Configuration=LiDAR-Camera2026.06 | 0.066 | — | — | — | — | — | — | |
| LIO-SAMSensor Configuration=LiDAR-IMU2026.06 | 0.067 | — | — | — | — | — | — | |
| Fast-LIO2Sensor Configuration=LiDAR-IMU2026.06 | 0.068 | — | — | — | — | — | — | |
| Fast-LIVO2Sensor Configuration=LiDAR-IMU-Camera2026.06 | 0.068 | — | — | — | — | — | — | |
| KN-LIOSensor Configuration=LiDAR-IMU2026.06 | 0.071 | — | — | — | — | — | — | |
| KN-LIOSensor Configuration=LiDAR-IMU2026.06 | 0.072 | — | — | — | — | — | — | |
| R3LIVESensor Configuration=LiDAR-IMU-Camera2026.06 | 0.072 | — | — | — | — | — | — | |
| LIO-SAMSensor Configuration=LiDAR-IMU2026.06 | 0.074 | — | — | — | — | — | — | |
| Fast-LIO2Sensor Configuration=LiDAR-IMU2026.06 | 0.075 | — | — | — | — | — | — | |
| Fast-LIVOSensor Configuration=LiDAR-IMU-Camera2026.06 | 0.132 | — | — | — | — | — | — | |
| dlioSensor Configuration=LiDAR-IMU2026.06 | 0.141 | — | — | — | — | — | — | |
| dlioSensor Configuration=LiDAR-IMU2026.06 | 0.143 | — | — | — | — | — | — | |
| MLOAMSensor Configuration=LiDAR-LiDAR2026.06 | 0.166 | — | — | — | — | — | — | |
| LVI-SAMSensor Configuration=LiDAR-IMU-Camera2026.06 | 0.182 | — | — | — | — | — | — | |
| Ct-LIOSensor Configuration=LiDAR-IMU2026.06 | 0.186 | — | — | — | — | — | — | |
| D-LIOMSensor Configuration=LiDAR-IMU2026.06 | 0.191 | — | — | — | — | — | — | |
| Fast-LIVOSensor Configuration=LiDAR-IMU-Camera2026.06 | 0.191 | — | — | — | — | — | — | |
| MLOAMSensor Configuration=LiDAR-LiDAR2026.06 | 0.249 | — | — | — | — | — | — | |
| SDV-LOAMSensor Configuration=LiDAR-Camera2026.06 | 0.301 | — | — | — | — | — | — | |
| Ct-LIOSensor Configuration=LiDAR-IMU2026.06 | 0.416 | — | — | — | — | — | — | |
| D-LIOMSensor Configuration=LiDAR-IMU2026.06 | 0.508 | — | — | — | — | — | — | |
| LVI-SAMSensor Configuration=LiDAR-IMU-Camera2026.06 | 3.901 | — | — | — | — | — | — | |
| DLIO2026.03 | — | 0.254 | 0.269 | 0.231 | 0.286 | 0.258 | 0.423 | |
| FAST-LIO22026.03 | — | 0.25 | 0.256 | 0.276 | 0.27 | 0.244 | 3.12 | |
| LIO-EKF2026.03 | — | 0.772 | 0.479 | 1.04 | 0.308 | 0.365 | 2.45 | |
| MA-LIO2026.03 | — | 0.252 | 0.256 | 2.32 | 0.268 | 0.248 | 0.464 | |
| PV-LIO2026.03 | — | 0.579 | 0.404 | 1.71 | 0.753 | 0.74 | — | |
| SE(3)-LIO2026.03 | — | 0.246 | 0.253 | 0.204 | 0.268 | 0.238 | 0.321 |