Localization on Hilti Benchmark (various sequences)
0.027Performance (Exp04)Omni-LIVO
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| Omni-LIVOSystem Category=LiDAR-assisted, Pseudo-Depth=Without2026.06 | 0.027 | 0.009 | 0.011 | 0.031 | 0.12 | 0.083 | 0.047 | |
| R3LIVESystem Category=LiDAR-assisted, Pseudo-Depth=Without2026.06 | 0.028 | 0.041 | 0.049 | 0.097 | — | — | — | |
| FAST-LIVO2System Category=LiDAR-assisted, Pseudo-Depth=Without2026.06 | 0.03 | 0.041 | 0.045 | 0.097 | 0.123 | 0.155 | 0.082 | |
| FAST-LIVOSystem Category=LiDAR-assisted, Pseudo-Depth=Without2026.06 | 0.032 | 0.089 | 0.091 | 0.129 | 1.165 | 0.387 | 0.316 | |
| GeoFlow-SLAM++System Category=Vision-only visual-inertial, Front-end Feature=ORB, Pseudo-Depth=Without2026.06 | 0.036 | 0.041 | 0.047 | 0.034 | 0.101 | 0.091 | 0.058 | |
| GeoFlow-SLAM++System Category=Vision-only visual-inertial, Front-end Feature=NN-Feature, Pseudo-Depth=Without2026.06 | 0.048 | 0.047 | 0.081 | 0.03 | 0.091 | 0.089 | 0.064 | |
| OpenMAVISSystem Category=Vision-only visual-inertial, Pseudo-Depth=Without2026.06 | 0.083 | 0.04 | 0.075 | 0.082 | 0.255 | 0.178 | 0.119 | |
| FAST-LIO2System Category=LiDAR-assisted, Pseudo-Depth=Without2026.06 | 0.124 | 0.1 | — | 0.136 | — | — | — |