ResearchBenchmarksLocalization and Mapping on Building Real-world Scenario 25-30k pts/frame, 95M pts/mapLocalization and Mapping on Building Real-world Scenario 25-30k pts/frame, 95M pts/mapFollow8.58ATE (cm)ME-SR-3.055275.4824154.02232.5576Sep 8, 2025Evaluation resultsMethodMethodLinksATE (cm)DR (%)AC (cm)Time (ms)ME-SR2025.098.5804.6265.91ME-TReg2025.098.6304.6166.94ME-TSVD2025.098.6404.6266.94DCReg2025.098.6504.66.78O3D2025.099.42—4.89385.64Odom2025.0916.53——101.83FCN-SR2025.09299.4699.23—786.45