ResearchBenchmarksLocalization on Tunnel Seq 4Follow0.04ATE (m)MIL-LC-2.4712814.4798631.43148.38214Jun 24, 2026Evaluation ResultsMethodMethodLinksATE (m)MIL-LC2026.060.04MIL-LCLiDAR sensing range=10mLiDAR sensing range=10m2026.060.04HDL2026.0659.594FAST-LIO22026.0659.694CTE-MLO2026.0662.822