ResearchBenchmarksLiDAR Odometry on Livox Mid-360 seq. 3Follow0.22ATE (m)FAST-LIO20.21960.22230.2250.2277May 10, 2026Evaluation ResultsMethodMethodLinksATE (m)FAST-LIO2σ²=1σ²=12026.050.22PALocσ²=1σ²=12026.050.22FAST-LIO2σ²=0.1σ²=0.12026.050.222FAST-LIO2σ²=0.001σ²=0.0012026.050.223PALocσ²=0.001σ²=0.0012026.050.223PALocσ²=0.1σ²=0.12026.050.223LIO-SMF2026.050.23