Odometry on KAIST Urban26
32.5ATE RMSE (m)Ultra-Fusion
Evaluation results
| Method | Links | ||
|---|---|---|---|
| Ultra-FusionModality/Configuration=LVWIO2026.06 | 32.5 | 0.58 | |
| Raw Wheel Odom2026.06 | 36.15 | 0.91 | |
| Ultra-FusionModality/Configuration=WIO2026.06 | 36.56 | 0.92 | |
| Ground-Fusion2026.06 | 173.52 | 4.35 | |
| Ultra-FusionModality/Configuration=LVIO2026.06 | 428 | 10.22 | |
| FAST-LIVO2026.06 | 487.91 | 12.24 | |
| FAST-LIVO22026.06 | 497.03 | 12.46 |