ResearchBenchmarksOdometry on Degenerate Scenarios Others (ShieldTunnel_2)Follow21.6ATE (m)ALIVE-LIO14.608861.7994108.99156.1806Apr 3, 2026Evaluation ResultsMethodMethodLinksATE (m)ALIVE-LIOCO=falseCO=false2026.0421.6ALIVE-LIOCO=trueCO=true2026.0422.95FAST-LIO22026.04100.86D-LIO2026.04196.38