ResearchBenchmarksOdometry on Oxford Spires keble-02Odometry on Oxford Spires keble-02Follow0.05APE RMSEEllipseLIO0.04680.06840.090.1116May 20, 2026Evaluation resultsMethodMethodLinksAPE RMSEEllipseLIOVoxel Resolution=0.1Voxel Resolution=0.12026.050.05FAST-LIO2Voxel Resolution=0.5Voxel Resolution=0.52026.050.05DLIOVoxel Resolution=0.25Voxel Resolution=0.252026.050.06iG-LIOVoxel Resolution=0.5Voxel Resolution=0.52026.050.07DLIOVoxel Resolution=0.1Voxel Resolution=0.12026.050.08LIO-SAMVoxel Resolution=0.4Voxel Resolution=0.42026.050.13iG-LIOVoxel Resolution=0.1Voxel Resolution=0.12026.050.13