# LiDAR-Inertial Odometry on NTU-VIRAL

Source: [LiDAR-Inertial Odometry on NTU-VIRAL](<https://www.sota2.com/research/sota/lidar-inertial-odometry-on-ntu-viral>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-03-18T08:11:46.919Z

Evaluation of LiDAR-Inertial Odometry performance on the NTU-VIRAL dataset, reporting metrics including EEE, NYA, SBS, RTP, TNP, SPMS, and AVG.

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 |
| Metric | EEE |
| Unit | PERCENT |
| Direction | Lower is better |
| Results loaded | 5 of 5 |
| 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

- [EEE](<https://www.sota2.com/research/sota/lidar-inertial-odometry-on-ntu-viral.md?metric=EEE>): Lower is better; unit: PERCENT.

- [NYA](<https://www.sota2.com/research/sota/lidar-inertial-odometry-on-ntu-viral.md?metric=NYA>): Lower is better; unit: PERCENT.

- [SBS](<https://www.sota2.com/research/sota/lidar-inertial-odometry-on-ntu-viral.md?metric=SBS>): Lower is better; unit: PERCENT.

- [RTP](<https://www.sota2.com/research/sota/lidar-inertial-odometry-on-ntu-viral.md?metric=RTP>): Lower is better; unit: PERCENT.

- [TNP](<https://www.sota2.com/research/sota/lidar-inertial-odometry-on-ntu-viral.md?metric=TNP>): Lower is better; unit: PERCENT.

- [SPMS](<https://www.sota2.com/research/sota/lidar-inertial-odometry-on-ntu-viral.md?metric=SPMS>): Lower is better; unit: PERCENT.

- [AVG](<https://www.sota2.com/research/sota/lidar-inertial-odometry-on-ntu-viral.md?metric=AVG>): Lower is better; unit: PERCENT.

## Recorded results

| Method | EEE | Result date | Report paper |
| --- | --- | --- | --- |
| FAST-LIO2 | 16.02 | Not recorded | 69ba31ab0636e5bf4afc09b5 |
| MA-LIO | 23.97 | Not recorded | 69ba31ab0636e5bf4afc09b5 |
| SE(3)-LIO | 26.66 | Not recorded | 69ba31ab0636e5bf4afc09b5 |
| PV-LIO | 51.84 | Not recorded | 69ba31ab0636e5bf4afc09b5 |
| DLIO | 99.08 | Not recorded | 69ba31ab0636e5bf4afc09b5 |

### FAST-LIO2

EEE: 16.02. Result ID: 69ba5de247f34ce924a41bb8.

[Reporting paper](<https://www.sota2.com/research/paper/69ba31ab0636e5bf4afc09b5.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6a5f1e209131cea27cc2.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### MA-LIO

EEE: 23.97. Result ID: 69ba5de247f34ce924a41bbb.

[Reporting paper](<https://www.sota2.com/research/paper/69ba31ab0636e5bf4afc09b5.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa71251e209131cea4f7af.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### SE(3)-LIO

EEE: 26.66. Result ID: 69ba5de247f34ce924a41bbc.

[Reporting paper](<https://www.sota2.com/research/paper/69ba31ab0636e5bf4afc09b5.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69ba31ab0636e5bf4afc09b5.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### PV-LIO

EEE: 51.84. Result ID: 69ba5de247f34ce924a41bb9.

[Reporting paper](<https://www.sota2.com/research/paper/69ba31ab0636e5bf4afc09b5.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ce61e209131cea36a6e.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### DLIO

EEE: 99.08. Result ID: 69ba5de247f34ce924a41bba.

[Reporting paper](<https://www.sota2.com/research/paper/69ba31ab0636e5bf4afc09b5.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6eb61e209131cea41b30.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

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