ResearchBenchmarksLiDAR Odometry on Livox Mid-360 seq. 1LiDAR Odometry on Livox Mid-360 seq. 1Follow0.255ATE (m)PALoc0.251160.277080.3030.32892May 10, 2026Evaluation resultsMethodMethodLinksATE (m)PALocσ²=1σ²=12026.050.255FAST-LIO2σ²=1σ²=12026.050.331PALocσ²=0.1σ²=0.12026.050.332FAST-LIO2σ²=0.1σ²=0.12026.050.333FAST-LIO2σ²=0.001σ²=0.0012026.050.336PALocσ²=0.001σ²=0.0012026.050.336LIO-SMF2026.050.351