ResearchBenchmarksOdometry on Oxford Spires blenheim-01Follow0.12APE RMSEiG-LIO0.1040.2120.320.428May 20, 2026Evaluation ResultsMethodMethodLinksAPE RMSEiG-LIOVoxel Resolution=0.5Voxel Resolution=0.52026.050.12EllipseLIOVoxel Resolution=0.1Voxel Resolution=0.12026.050.14FAST-LIO2Voxel Resolution=0.5Voxel Resolution=0.52026.050.14DLIOVoxel Resolution=0.25Voxel Resolution=0.252026.050.31DLIOVoxel Resolution=0.1Voxel Resolution=0.12026.050.46LIO-SAMVoxel Resolution=0.4Voxel Resolution=0.42026.050.52