Lidar Odometry on KITTI-odometry (sequences 00-10)
0.27KITTI-metricGraph-based Online Lidar Odometry
Evaluation results
| Method | Links | |||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Graph-based Online Lidar OdometrySequence=06, FPS=19.732025.03 | 0.27 | 0.43 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Graph-based Online Lidar OdometrySequence=05, FPS=19.732025.03 | 0.28 | 0.43 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KISS-ICPSequence=06, FPS=99.732025.03 | 0.3 | 0.48 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KISS-SLAMSequence=06, FPS=57.732025.03 | 0.31 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Graph-based Online Lidar OdometrySequence=04, FPS=19.732025.03 | 0.36 | 0.42 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Graph-based Online Lidar OdometrySequence=07, FPS=19.732025.03 | 0.36 | 0.53 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KISS-SLAMSequence=07, FPS=57.732025.03 | 0.37 | 0.52 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KISS-ICPSequence=07, FPS=99.732025.03 | 0.38 | 0.53 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KISS-SLAMSequence=04, FPS=57.732025.03 | 0.39 | 0.42 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KISS-ICPSequence=04, FPS=99.732025.03 | 0.4 | 0.43 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KISS-SLAMSequence=05, FPS=57.732025.03 | 0.4 | 0.54 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KISS-ICPSequence=05, FPS=99.732025.03 | 0.43 | 0.51 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MAD-ICPSequence=06, FPS=11.092025.03 | 0.43 | 0.39 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MAD-ICPSequence=07, FPS=11.092025.03 | 0.44 | 0.54 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Graph-based Online Lidar OdometrySequence=09, FPS=19.732025.03 | 0.49 | 0.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MAD-ICPSequence=05, FPS=11.092025.03 | 0.51 | 0.45 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Graph-based Online Lidar OdometrySequence=02, FPS=19.732025.03 | 0.54 | 0.78 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KISS-SLAMSequence=09, FPS=57.732025.03 | 0.55 | 0.62 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Graph-based Online Lidar OdometrySequence=00, FPS=19.732025.03 | 0.56 | 0.82 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KISS-ICPSequence=09, FPS=99.732025.03 | 0.57 | 0.61 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Graph-based Online Lidar OdometrySequence=mean, FPS=19.732025.03 | 0.57 | 0.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KISS-ICPSequence=02, FPS=99.732025.03 | 0.58 | 0.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KISS-ICPSequence=10, FPS=99.732025.03 | 0.58 | 0.72 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KISS-ICPSequence=00, FPS=99.732025.03 | 0.6 | 0.81 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KISS-SLAMSequence=00, FPS=57.732025.03 | 0.6 | 0.85 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KISS-SLAMSequence=10, FPS=57.732025.03 | 0.6 | 0.72 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KISS-ICPSequence=mean, FPS=99.732025.03 | 0.61 | 0.82 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KISS-ICPSequence=03, FPS=99.732025.03 | 0.62 | 0.81 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MAD-ICPSequence=04, FPS=11.092025.03 | 0.63 | 0.52 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KISS-SLAMSequence=02, FPS=57.732025.03 | 0.64 | 0.81 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KISS-SLAMSequence=mean, FPS=57.732025.03 | 0.64 | 0.84 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Graph-based Online Lidar OdometrySequence=03, FPS=19.732025.03 | 0.65 | 0.82 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KISS-SLAMSequence=03, FPS=57.732025.03 | 0.67 | 0.84 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Graph-based Online Lidar OdometrySequence=10, FPS=19.732025.03 | 0.67 | 0.74 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Graph-based Online Lidar OdometrySequence=01, FPS=19.732025.03 | 0.74 | 0.83 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MAD-ICPSequence=00, FPS=11.092025.03 | 0.76 | 0.86 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MAD-ICPSequence=02, FPS=11.092025.03 | 0.8 | 0.79 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KISS-ICPSequence=01, FPS=99.732025.03 | 0.81 | 0.83 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KISS-ICPSequence=08, FPS=99.732025.03 | 0.82 | 1.35 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Graph-based Online Lidar OdometrySequence=08, FPS=19.732025.03 | 0.84 | 1.33 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KISS-SLAMSequence=01, FPS=57.732025.03 | 0.85 | 0.83 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MAD-ICPSequence=mean, FPS=11.092025.03 | 0.86 | 0.85 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| KISS-SLAMSequence=08, FPS=57.732025.03 | 0.9 | 1.36 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MAD-ICPSequence=01, FPS=11.092025.03 | 0.99 | 0.84 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MAD-ICPSequence=09, FPS=11.092025.03 | 1.17 | 0.74 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MAD-ICPSequence=08, FPS=11.092025.03 | 1.22 | 1.41 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MAD-ICPSequence=10, FPS=11.092025.03 | 1.24 | 0.89 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MAD-ICPSequence=03, FPS=11.092025.03 | 2.19 | 2.18 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CT-ICPType=dense points2026.04 | — | — | — | 0.48 | 0.49 | 0.76 | 0.52 | 0.72 | 0.39 | 0.25 | 0.27 | 0.31 | 0.81 | 0.49 | 0.5 | |
| D-Compressbits per point (bpp)=1.552026.03 | — | — | 1.4 | — | — | — | — | — | — | — | — | — | — | — | — | |
| Dracobits per point (bpp)=1.552026.03 | — | — | 4.2 | — | — | — | — | — | — | — | — | — | — | — | — | |
| F-LOAMType=feature points2026.04 | — | — | — | 0.79 | 0.78 | 1.43 | 0.92 | 0.86 | 0.71 | 0.57 | 0.65 | 0.63 | 1.12 | 0.77 | 0.84 | |
| G-PCCbits per point (bpp)=1.552026.03 | — | — | 2 | — | — | — | — | — | — | — | — | — | — | — | — | |
| H.265bits per point (bpp)=1.552026.03 | — | — | 2.7 | — | — | — | — | — | — | — | — | — | — | — | — | |
| Hi-LOAMType=neural implicit2026.04 | — | — | — | 0.45 | 0.51 | 0.63 | 0.53 | 0.61 | 0.31 | 0.31 | 0.31 | 0.35 | 0.81 | 0.49 | 0.48 | |
| IMLS-SLAMType=implicit model2026.04 | — | — | — | 0.53 | 0.5 | 0.82 | 0.53 | 0.68 | 0.33 | 0.32 | 0.33 | 0.33 | 0.8 | 0.55 | 0.52 | |
| JPEG2000bits per point (bpp)=1.552026.03 | — | — | 3.7 | — | — | — | — | — | — | — | — | — | — | — | — | |
| KISS-ICPType=dense points2026.04 | — | — | — | 0.56 | 0.52 | 0.63 | 0.51 | 0.66 | 0.36 | 0.31 | 0.26 | 0.33 | 0.82 | 0.51 | 0.5 | |
| LeGO-LOAMType=feature points2026.04 | — | — | — | 2.21 | 2.17 | 13.4 | 2.17 | 2.34 | 1.27 | 1.28 | 1.06 | 1.12 | 1.99 | 1.97 | 2.49 | |
| Litamin-LOType=normal distribution2026.04 | — | — | — | 0.8 | 0.78 | 2.1 | 0.95 | 0.96 | 1.05 | 0.55 | 0.55 | 0.48 | 1.01 | 0.69 | 0.88 | |
| LONetType=supervised2026.04 | — | — | — | 1.8 | 1.47 | 1.36 | 1.52 | 1.03 | 0.51 | 1.04 | 0.71 | 1.7 | 2.12 | 1.37 | 1.33 | |
| Mesh-LOAMType=mesh2026.04 | — | — | — | 0.56 | 0.53 | 0.64 | 0.52 | 0.63 | 0.41 | 0.34 | 0.35 | 0.31 | 0.82 | 0.47 | 0.51 | |
| MULLSType=feature points2026.04 | — | — | — | 0.59 | 0.56 | 0.64 | 0.55 | 0.71 | 0.41 | 0.3 | 0.3 | 0.38 | 0.78 | 0.48 | 0.52 | |
| NeRF-LOAMType=neural implicit2026.04 | — | — | — | 2.08 | 1.34 | 2.07 | — | 2.22 | 1.74 | 1.4 | — | 1 | — | 1.63 | 1.69 | |
| PIN-LOType=neural implicit2026.04 | — | — | — | 0.5 | 0.55 | 0.68 | 0.54 | 0.76 | 0.22 | 0.3 | 0.35 | 0.34 | 0.8 | 0.54 | 0.51 | |
| PumaType=mesh2026.04 | — | — | — | 1.38 | 1.46 | 3.38 | 1.86 | 1.6 | 1.63 | 1.2 | 0.88 | 0.72 | 1.44 | 1.51 | 1.55 | |
| PWCLONetType=supervised2026.04 | — | — | — | 1.69 | 0.78 | 0.67 | 0.86 | 0.76 | 0.37 | 0.45 | 0.27 | 0.6 | 1.26 | 0.79 | 0.77 | |
| Raw data2026.03 | — | — | 0.6 | — | — | — | — | — | — | — | — | — | — | — | — | |
| RT-STbits per point (bpp)=1.552026.03 | — | — | 3.6 | — | — | — | — | — | — | — | — | — | — | — | — | |
| SLAMeshType=mesh2026.04 | — | — | — | 0.65 | 0.77 | 1.25 | 0.77 | 0.64 | 0.5 | 0.52 | 0.53 | 0.36 | 0.87 | 0.57 | 0.68 | |
| SuMa-LOType=surfels2026.04 | — | — | — | 0.71 | 0.72 | 1.71 | 1.06 | 0.66 | 0.38 | 0.5 | 0.41 | 0.55 | 1.02 | 0.48 | 0.75 | |
| SuMa++Type=surfels2026.04 | — | — | — | 0.66 | 0.64 | 1.6 | 1 | 0.67 | 0.37 | 0.4 | 0.46 | 0.34 | 1.1 | 0.47 | 0.7 | |
| TransLOType=supervised2026.04 | — | — | — | 1.18 | 0.85 | 1.16 | 0.88 | 1 | 0.34 | 0.63 | 0.73 | 0.55 | 1.29 | 0.95 | 0.87 | |
| VG-ICPType=dense points2026.04 | — | — | — | 0.95 | 2.16 | 2.38 | 0.99 | 0.67 | 0.55 | 0.45 | 0.24 | 0.99 | 1.74 | 0.95 | 1.1 | |
| WebPbits per point (bpp)=1.552026.03 | — | — | 5.8 | — | — | — | — | — | — | — | — | — | — | — | — |