Odometry on KAIST Urban23
12.38ATE RMSE (m)Ultra-Fusion
Evaluation results
| Method | Links | ||
|---|---|---|---|
| Ultra-FusionModality/Configuration=LVWIO2026.06 | 12.38 | 0.37 | |
| Ultra-FusionModality/Configuration=WIO2026.06 | 279.9 | 8.28 | |
| Raw Wheel Odom2026.06 | 284.6 | 8.42 | |
| Ultra-FusionModality/Configuration=LVIO2026.06 | 334.77 | 9.91 | |
| Ground-Fusion++2026.06 | 586.28 | 17.35 | |
| FAST-LIVO22026.06 | 979.4 | 28.98 | |
| FAST-LIVO2026.06 | 979.84 | 28.99 | |
| Ground-Fusion2026.06 | 1,825.7 | 54.02 |