ResearchBenchmarksLiDAR-Inertial Odometry on Oxford Spires Indoor-OutdoorLiDAR-Inertial Odometry on Oxford Spires Indoor-OutdoorFollow0.05ATE RMSE (m)iG-LIO0.03320.14660.260.3734Mar 17, 2026Evaluation resultsMethodMethodLinksATE RMSE (m)Divergence Rate (%)iG-LIOSequence=christ-church-01Sequence=christ-church-012026.030.05—GenZ-LIOSequence=blenheim-pala...Sequence=blenheim-palace-052026.030.1—GenZ-LIOSequence=christ-church-01Sequence=christ-church-012026.030.47—