ResearchBenchmarksOdometry on Degenerate Scenarios Others (ShieldTunnel_5)Follow6.55ATE (m)ALIVE-LIO6.46287.05147.648.2286Apr 3, 2026Evaluation ResultsMethodMethodLinksATE (m)ALIVE-LIOCO=falseCO=false2026.046.55ALIVE-LIOCO=trueCO=true2026.048.73