ResearchBenchmarksOdometry on Degenerate Scenarios Car-Mounted Platforms (Bridge_2)Odometry on Degenerate Scenarios Car-Mounted Platforms (Bridge_2)Follow109.44ATE (m)ALIVE-LIO60.8684388.7267716.5851,044.4433Apr 3, 2026Evaluation resultsMethodMethodLinksATE (m)ALIVE-LIOCO=trueCO=true2026.04109.44ALIVE-LIOCO=falseCO=false2026.04111.54PV-LIOCO=trueCO=true2026.04134.62PV-LIOCO=falseCO=false2026.04137.15CV w/ X-ICPPose Prior=Constant Ve...Pose Prior=Constant Velocity2026.04539.65GenZ-ICP2026.04738.79FAST-LIO22026.041,323.73