ResearchBenchmarksLocalization and Mapping on Corridor Real-world Scenario 1-2k pts/frame, 67M pts/mapLocalization and Mapping on Corridor Real-world Scenario 1-2k pts/frame, 67M pts/mapFollow7.44ATE (cm)DCReg-48.9972331.9539712.9051,093.8561Sep 8, 2025Evaluation resultsMethodMethodLinksATE (cm)DR (%)AC (cm)Time (ms)DCReg2025.097.4458.043.451.24ME-TReg2025.0926.2433.213.628.22Odom2025.0926.34——49.1ME-TSVD2025.0994.3234.844.3611.6ME-SR2025.09173.8239.274.5513.31FCN-SR2025.09231.485.286.6438.17O3D2025.091,418.37—7.0915.02