ResearchBenchmarksOdometry on Oxford Spires christchurch-03Follow0.03APE RMSEEllipseLIO0.0280.04150.0550.0685May 20, 2026Evaluation ResultsMethodMethodLinksAPE RMSEEllipseLIOVoxel Resolution=0.1Voxel Resolution=0.12026.050.03FAST-LIO2Voxel Resolution=0.5Voxel Resolution=0.52026.050.04DLIOVoxel Resolution=0.25Voxel Resolution=0.252026.050.07DLIOVoxel Resolution=0.1Voxel Resolution=0.12026.050.08LIO-SAMVoxel Resolution=0.4Voxel Resolution=0.42026.050.08iG-LIOVoxel Resolution=0.5Voxel Resolution=0.52026.050.08