# LiDAR-Inertial Odometry on NTU-VIRAL (eee, nya, rtp, sbs, tnp, spms) Source: [LiDAR-Inertial Odometry on NTU-VIRAL (eee, nya, rtp, sbs, tnp, spms)]() Collection index: [llms.txt]() Data updated: 2026-06-29T07:04:07.920Z Evaluation of LiDAR-Inertial Odometry performance across multiple sequences (eee, nya, rtp, sbs, tnp, spms) of the NTU-VIRAL dataset, reporting Absolute Trajectory Error (ATE) RMSE for each sequence. 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) | NTU-VIRAL (eee, nya, rtp, sbs, tnp, spms) | | Metric | ATE RMSE (m) | | Unit | SCALAR | | Direction | Lower is better | | Results loaded | 35 of 35 | | 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 - [ATE RMSE (m)](): Lower is better; unit: SCALAR. - [ATE RMSE (eee)](): Lower is better; unit: SCALAR. - [ATE RMSE (nya)](): Lower is better; unit: SCALAR. - [ATE RMSE (rtp)](): Lower is better; unit: SCALAR. - [ATE RMSE (sbs)](): Lower is better; unit: SCALAR. - [ATE RMSE (tnp)](): Lower is better; unit: SCALAR. - [ATE RMSE (spms)](): Lower is better; unit: SCALAR. ## Recorded results | Method | ATE RMSE (m) | Result date | Report paper | | --- | --- | --- | --- | | LXD-SLAM | 0.029 | Not recorded | 6a41fbd8206542251d7cc97a | | LXD-SLAM | 0.029 | Not recorded | 6a41fbd8206542251d7cc97a | | LXD-SLAM | 0.034 | Not recorded | 6a41fbd8206542251d7cc97a | | LXD-SLAM | 0.038 | Not recorded | 6a41fbd8206542251d7cc97a | | LXD-SLAM | 0.051 | Not recorded | 6a41fbd8206542251d7cc97a | | Fast-LIVO2 | 0.051 | Not recorded | 6a41fbd8206542251d7cc97a | | R3LIVE | 0.059 | Not recorded | 6a41fbd8206542251d7cc97a | | LXD-SLAM | 0.066 | Not recorded | 6a41fbd8206542251d7cc97a | | LIO-SAM | 0.067 | Not recorded | 6a41fbd8206542251d7cc97a | | Fast-LIO2 | 0.068 | Not recorded | 6a41fbd8206542251d7cc97a | | Fast-LIVO2 | 0.068 | Not recorded | 6a41fbd8206542251d7cc97a | | KN-LIO | 0.071 | Not recorded | 6a41fbd8206542251d7cc97a | | KN-LIO | 0.072 | Not recorded | 6a41fbd8206542251d7cc97a | | R3LIVE | 0.072 | Not recorded | 6a41fbd8206542251d7cc97a | | LIO-SAM | 0.074 | Not recorded | 6a41fbd8206542251d7cc97a | | Fast-LIO2 | 0.075 | Not recorded | 6a41fbd8206542251d7cc97a | | Fast-LIVO | 0.132 | Not recorded | 6a41fbd8206542251d7cc97a | | dlio | 0.141 | Not recorded | 6a41fbd8206542251d7cc97a | | dlio | 0.143 | Not recorded | 6a41fbd8206542251d7cc97a | | MLOAM | 0.166 | Not recorded | 6a41fbd8206542251d7cc97a | | LVI-SAM | 0.182 | Not recorded | 6a41fbd8206542251d7cc97a | | Ct-LIO | 0.186 | Not recorded | 6a41fbd8206542251d7cc97a | | D-LIOM | 0.191 | Not recorded | 6a41fbd8206542251d7cc97a | | Fast-LIVO | 0.191 | Not recorded | 6a41fbd8206542251d7cc97a | | MLOAM | 0.249 | Not recorded | 6a41fbd8206542251d7cc97a | | SDV-LOAM | 0.301 | Not recorded | 6a41fbd8206542251d7cc97a | | Ct-LIO | 0.416 | Not recorded | 6a41fbd8206542251d7cc97a | | D-LIOM | 0.508 | Not recorded | 6a41fbd8206542251d7cc97a | | LVI-SAM | 3.901 | Not recorded | 6a41fbd8206542251d7cc97a | ### LXD-SLAM ATE RMSE (m): 0.029. Result ID: 6a4218defbc373592c86f325. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sensor Configuration":"LiDAR-IMU"}. This record does not assert independent reproduction. ### LXD-SLAM ATE RMSE (m): 0.029. Result ID: 6a4218defbc373592c86f32a. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sensor Configuration":"LiDAR-IMU-Camera"}. This record does not assert independent reproduction. ### LXD-SLAM ATE RMSE (m): 0.034. Result ID: 6a4218defbc373592c86f31b. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sensor Configuration":"LiDAR-IMU-Camera"}. This record does not assert independent reproduction. ### LXD-SLAM ATE RMSE (m): 0.038. Result ID: 6a4218defbc373592c86f316. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sensor Configuration":"LiDAR-IMU"}. This record does not assert independent reproduction. ### LXD-SLAM ATE RMSE (m): 0.051. Result ID: 6a4218defbc373592c86f31e. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sensor Configuration":"LiDAR-LiDAR"}. This record does not assert independent reproduction. ### Fast-LIVO2 ATE RMSE (m): 0.051. Result ID: 6a4218defbc373592c86f329. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sensor Configuration":"LiDAR-IMU-Camera"}. This record does not assert independent reproduction. ### R3LIVE ATE RMSE (m): 0.059. Result ID: 6a4218defbc373592c86f326. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sensor Configuration":"LiDAR-IMU-Camera"}. This record does not assert independent reproduction. ### LXD-SLAM ATE RMSE (m): 0.066. Result ID: 6a4218defbc373592c86f31c. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sensor Configuration":"LiDAR-Camera"}. This record does not assert independent reproduction. ### LIO-SAM ATE RMSE (m): 0.067. Result ID: 6a4218defbc373592c86f322. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sensor Configuration":"LiDAR-IMU"}. This record does not assert independent reproduction. ### Fast-LIO2 ATE RMSE (m): 0.068. Result ID: 6a4218defbc373592c86f314. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sensor Configuration":"LiDAR-IMU"}. This record does not assert independent reproduction. ### Fast-LIVO2 ATE RMSE (m): 0.068. Result ID: 6a4218defbc373592c86f31a. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sensor Configuration":"LiDAR-IMU-Camera"}. This record does not assert independent reproduction. ### KN-LIO ATE RMSE (m): 0.071. Result ID: 6a4218defbc373592c86f324. [Reporting paper]() Recorded evaluation configuration: {"Sensor Configuration":"LiDAR-IMU"}. This record does not assert independent reproduction. ### KN-LIO ATE RMSE (m): 0.072. Result ID: 6a4218defbc373592c86f315. [Reporting paper]() Recorded evaluation configuration: {"Sensor Configuration":"LiDAR-IMU"}. This record does not assert independent reproduction. ### R3LIVE ATE RMSE (m): 0.072. Result ID: 6a4218defbc373592c86f317. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sensor Configuration":"LiDAR-IMU-Camera"}. This record does not assert independent reproduction. ### LIO-SAM ATE RMSE (m): 0.074. Result ID: 6a4218defbc373592c86f313. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sensor Configuration":"LiDAR-IMU"}. This record does not assert independent reproduction. ### Fast-LIO2 ATE RMSE (m): 0.075. Result ID: 6a4218defbc373592c86f323. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sensor Configuration":"LiDAR-IMU"}. This record does not assert independent reproduction. ### Fast-LIVO ATE RMSE (m): 0.132. Result ID: 6a4218defbc373592c86f328. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sensor Configuration":"LiDAR-IMU-Camera"}. This record does not assert independent reproduction. ### dlio ATE RMSE (m): 0.141. Result ID: 6a4218defbc373592c86f321. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sensor Configuration":"LiDAR-IMU"}. This record does not assert independent reproduction. ### dlio ATE RMSE (m): 0.143. Result ID: 6a4218defbc373592c86f312. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sensor Configuration":"LiDAR-IMU"}. This record does not assert independent reproduction. ### MLOAM ATE RMSE (m): 0.166. Result ID: 6a4218defbc373592c86f31d. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sensor Configuration":"LiDAR-LiDAR"}. This record does not assert independent reproduction. ### LVI-SAM ATE RMSE (m): 0.182. Result ID: 6a4218defbc373592c86f327. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sensor Configuration":"LiDAR-IMU-Camera"}. This record does not assert independent reproduction. ### Ct-LIO ATE RMSE (m): 0.186. Result ID: 6a4218defbc373592c86f311. [Reporting paper]() Recorded evaluation configuration: {"Sensor Configuration":"LiDAR-IMU"}. This record does not assert independent reproduction. ### D-LIOM ATE RMSE (m): 0.191. Result ID: 6a4218defbc373592c86f310. [Reporting paper]() Recorded evaluation configuration: {"Sensor Configuration":"LiDAR-IMU"}. This record does not assert independent reproduction. ### Fast-LIVO ATE RMSE (m): 0.191. Result ID: 6a4218defbc373592c86f319. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sensor Configuration":"LiDAR-IMU-Camera"}. This record does not assert independent reproduction. ### MLOAM ATE RMSE (m): 0.249. Result ID: 6a4218defbc373592c86f30f. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sensor Configuration":"LiDAR-LiDAR"}. This record does not assert independent reproduction. ### SDV-LOAM ATE RMSE (m): 0.301. Result ID: 6a4218defbc373592c86f30e. [Reporting paper]() Recorded evaluation configuration: {"Sensor Configuration":"LiDAR-Camera"}. This record does not assert independent reproduction. ### Ct-LIO ATE RMSE (m): 0.416. Result ID: 6a4218defbc373592c86f320. [Reporting paper]() Recorded evaluation configuration: {"Sensor Configuration":"LiDAR-IMU"}. This record does not assert independent reproduction. ### D-LIOM ATE RMSE (m): 0.508. Result ID: 6a4218defbc373592c86f31f. [Reporting paper]() Recorded evaluation configuration: {"Sensor Configuration":"LiDAR-IMU"}. This record does not assert independent reproduction. ### LVI-SAM ATE RMSE (m): 3.901. Result ID: 6a4218defbc373592c86f318. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Sensor Configuration":"LiDAR-IMU-Camera"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.