LiDAR-Inertial Odometry on SubT-MRS Indoor
0.34ATE RMSE (m)GenZ-LIO
Evaluation results
| Method | Links | ||
|---|---|---|---|
| GenZ-LIOSequence=Laurel Cavern2026.03 | 0.34 | — | |
| PV-LIOSequence=Laurel Cavern, Variant=Adaptive voxel mapping2026.03 | 0.37 | — | |
| PV-LIOSequence=Laurel Cavern, Variant=Hybrid-metric residuals2026.03 | 0.39 | — | |
| PV-LIOSequence=Laurel Cavern, Variant=Baseline2026.03 | 0.42 | — | |
| FAST-LIO2Sequence=Long Corridor2026.03 | 1.77 | — | |
| GenZ-LIOSequence=Long Corridor2026.03 | 1.9 | — | |
| FAST-LIO2Sequence=Laurel Cavern2026.03 | 3.64 | — |