ResearchBenchmarksLiDAR-Inertial Odometry on SuperLoc IndoorLiDAR-Inertial Odometry on SuperLoc IndoorFollow0.12ATE RMSE (m)GenZ-LIO0.10720.19360.280.3664Mar 17, 2026Evaluation resultsMethodMethodLinksATE RMSE (m)Divergence Rate (%)GenZ-LIOSequence=Cave 01Sequence=Cave 012026.030.12—iG-LIOSequence=Cave 01Sequence=Cave 012026.030.12—GenZ-LIOSequence=Cave 04Sequence=Cave 042026.030.21—DLIOSequence=Cave 01Sequence=Cave 012026.030.28—GenZ-LIOSequence=Cave 02Sequence=Cave 022026.030.44—