ResearchBenchmarksOdometry on Degenerate Scenarios Car-Mounted Platforms (Average)Odometry on Degenerate Scenarios Car-Mounted Platforms (Average)Follow118.27ATE (m)ALIVE-LIO117.9772119.9536121.93123.9064Apr 3, 2026Evaluation resultsMethodMethodLinksATE (m)ALIVE-LIOCO=trueCO=true2026.04118.27ALIVE-LIOCO=falseCO=false2026.04125.59