ResearchBenchmarksOdometry on Degenerate Scenarios Others (ShieldTunnel_1)Odometry on Degenerate Scenarios Others (ShieldTunnel_1)Follow12.67ATE (m)ALIVE-LIO9.581630.428351.27572.1217Apr 3, 2026Evaluation resultsMethodMethodLinksATE (m)ALIVE-LIOCO=falseCO=false2026.0412.67ALIVE-LIOCO=trueCO=true2026.0412.69FAST-LIO22026.0489.88