ResearchBenchmarksOdometry on Degenerate Scenarios Others (ShieldTunnel_3)Odometry on Degenerate Scenarios Others (ShieldTunnel_3)Follow10.73ATE (m)ALIVE-LIO5.775239.220172.665106.1099Apr 3, 2026Evaluation resultsMethodMethodLinksATE (m)ALIVE-LIOCO=trueCO=true2026.0410.73ALIVE-LIOCO=falseCO=false2026.0412.68FAST-LIO22026.0472.64D-LIO2026.04134.6