ResearchBenchmarksOdometry on Degenerate Scenarios (Car-Mounted Platforms) (Urban_Tunnel_3)Odometry on Degenerate Scenarios (Car-Mounted Platforms) (Urban_Tunnel_3)Follow81.92ATE (m)PV-LIO38.6248330.8674623.11915.3526Apr 3, 2026Evaluation resultsMethodMethodLinksATE (m)PV-LIOCO=falseCO=false2026.0481.92ALIVE-LIOCO=falseCO=false2026.0484.81PV-LIOCO=trueCO=true2026.0486.79ALIVE-LIOCO=trueCO=true2026.0488.21GenZ-ICP2026.04344.55FAST-LIO22026.041,164.3