ResearchBenchmarksLiDAR Odometry on Livox Mid-360 seq. 2LiDAR Odometry on Livox Mid-360 seq. 2Follow0.251ATE (m)FAST-LIO20.250120.256060.2620.26794May 10, 2026Evaluation resultsMethodMethodLinksATE (m)FAST-LIO2σ²=1σ²=12026.050.251PALocσ²=1σ²=12026.050.251FAST-LIO2σ²=0.1σ²=0.12026.050.253FAST-LIO2σ²=0.001σ²=0.0012026.050.255PALocσ²=0.001σ²=0.0012026.050.255PALocσ²=0.1σ²=0.12026.050.255LIO-SMF2026.050.273