ResearchBenchmarksPoint Cloud Mapping on FusionPortableFollow34.35Mapping Error (Canteen Day)NeLD-BA34.272434.796235.3235.8438Jul 5, 2026Evaluation ResultsMethodMethodLinksMapping Error (Canteen Day)Mapping Error (Canteen Night)Mapping Error (Garden Day)Mapping Error (Garden Night)NeLD-BA2026.0734.3533.1230.4426.92BALM2026.0734.5833.4130.727.23HBA2026.0735.6735.0336.1131.61FAST-LIO2status=initialstatus=initial2026.0735.7635.0334.8930.84Raw Mappose=GT Posepose=GT Pose2026.0736.2934.6731.6334.58