ResearchBenchmarksOdometry on Hilti Challenge Hard 2022 (exp16)Follow0.373RMSE APE (m)FAST-LIVO20.35020.50410.6580.8119Jun 28, 2026Evaluation ResultsMethodMethodLinksRMSE APE (m)FAST-LIVO22026.060.373PL-LIT2026.060.943