ResearchBenchmarksOdometry on Degenerate Scenarios Others (ShieldTunnel_6)Odometry on Degenerate Scenarios Others (ShieldTunnel_6)Follow4.24ATE (m)ALIVE-LIO2.926411.793220.6629.5268Apr 3, 2026Evaluation resultsMethodMethodLinksATE (m)ALIVE-LIOCO=trueCO=true2026.044.24ALIVE-LIOCO=falseCO=false2026.046.4FAST-LIO22026.0437.08