ResearchBenchmarksOdometry on Oxford Spires bodleian-02Follow0.19APE RMSEEllipseLIO0.14480.44990.7551.0601May 20, 2026Evaluation ResultsMethodMethodLinksAPE RMSEEllipseLIOVoxel Resolution=0.1Voxel Resolution=0.12026.050.19iG-LIOVoxel Resolution=0.5Voxel Resolution=0.52026.050.32LIO-SAMVoxel Resolution=0.1Voxel Resolution=0.12026.050.42DLIOVoxel Resolution=0.25Voxel Resolution=0.252026.050.54FAST-LIO2Voxel Resolution=0.5Voxel Resolution=0.52026.050.54DLIOVoxel Resolution=0.1Voxel Resolution=0.12026.050.75LIO-SAMVoxel Resolution=0.4Voxel Resolution=0.42026.051.32