ResearchBenchmarksLocalization on Cave 02Localization on Cave 02Follow4.57ATE (cm)DCReg-17.8716133.6092285.09436.5708Sep 8, 2025Evaluation resultsMethodMethodLinksATE (cm)DR (%)DCRegTime (ms)=3.71Time (ms)=3.712025.094.5732.9O3DTime (ms)=328.53Time (ms)=328.532025.0916.88—OdomTime (ms)=22.39Time (ms)=22.392025.09129.78—ME-TRegTime (ms)=115.87Time (ms)=115.872025.09209.5319.03FCN-SRTime (ms)=232.51Time (ms)=232.512025.09491.2958.89ME-TSVDTime (ms)=116.54Time (ms)=116.542025.09497.050.83ME-SRTime (ms)=146.80Time (ms)=146.802025.09565.616.47