ResearchBenchmarksLocalization and Mapping on Stairs Real-world Scenario 3-5k pts/frame, 128M pts/mapLocalization and Mapping on Stairs Real-world Scenario 3-5k pts/frame, 128M pts/mapFollow3.96ATE (cm)DCReg-7.084467.4653142.015216.5647Sep 8, 2025Evaluation resultsMethodMethodLinksATE (cm)DRAC (cm)Time (ms)DCReg2025.093.9650.715.556.47ME-TSVD2025.096.449.266.0956.16ME-TReg2025.097.169.26.0659.41Odom2025.0925.18——16.79O3D2025.0980.51—7.23889.69ME-SR2025.09160.7518.917.9129.19FCN-SR2025.09280.0794.777.8207.13