ResearchBenchmarksOdometry on Oxford Spires observatory-01Follow0.06APE RMSEEllipseLIO0.05160.10830.1650.2217May 20, 2026Evaluation ResultsMethodMethodLinksAPE RMSEEllipseLIOVoxel Resolution=0.1Voxel Resolution=0.12026.050.06FAST-LIO2Voxel Resolution=0.5Voxel Resolution=0.52026.050.08iG-LIOVoxel Resolution=0.5Voxel Resolution=0.52026.050.09LIO-SAMVoxel Resolution=0.4Voxel Resolution=0.42026.050.13DLIOVoxel Resolution=0.25Voxel Resolution=0.252026.050.18DLIOVoxel Resolution=0.1Voxel Resolution=0.12026.050.27