ResearchBenchmarksOdometry on Degenerate Scenarios Others (ShieldTunnel_4)Follow21.84ATE (m)ALIVE-LIO21.834421.872221.9121.9478Apr 3, 2026Evaluation ResultsMethodMethodLinksATE (m)ALIVE-LIOCO=falseCO=false2026.0421.84ALIVE-LIOCO=trueCO=true2026.0421.98