SLAM on M3DGR
1.3Average RankUltra-Fusion
Evaluation results
| Method | Links | ||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Ultra-FusionModality=WIO, Year=20262026.06 | 1.3 | 26.99 | 0.55 | 0.48 | 5.59 | 0.81 | 24.67 | 64.55 | 0.49 | 2.06 | 20.65 | — | |
| Ultra-FusionModality=LVWIO, Year=20262026.06 | 1.4 | 0.15 | 0.12 | 0.11 | 0.08 | 0.13 | 0.02 | 0.06 | 0.14 | 0.19 | 0.54 | 0.07 | |
| Ultra-FusionModality=LVIO, Year=20262026.06 | 1.8 | 0.22 | 0.12 | 0.13 | 0.08 | 0.15 | 0.47 | 0.28 | 0.14 | 0.19 | 0.53 | 0.08 | |
| Ground-FusionModality=WIO2026.06 | 2 | 33.68 | 2.32 | 2.36 | 5.52 | 2.04 | 72.61 | 66.94 | 2.2 | 7.44 | 25.34 | — | |
| Ultra-FusionModality=VWIO, Year=20262026.06 | 2.1 | 2.23 | 0.2 | 0.66 | 1.2 | 1.3 | 4.5 | 6.7 | 0.18 | 0.33 | 1.05 | 6.15 | |
| Raw Wheel Odom2026.06 | 2.5 | 35.6 | 8.6 | 8.21 | 5.48 | 6.9 | 74.32 | 66.94 | 1.18 | 7.44 | 26.95 | — | |
| GNSS SPP2026.06 | 2.7 | 106.98 | — | — | 7.69 | — | — | — | — | — | 0.48 | 11.61 | |
| Ultra-FusionModality=VIO, Year=20262026.06 | 3.2 | 18 | 0.23 | 1.2 | 4.8 | — | 5.3 | 6.5 | 0.2 | 0.29 | 4.6 | 6.9 | |
| R2LIVEYear=20212026.06 | 3.2 | 30.34 | 0.11 | 0.11 | 0.13 | 0.1 | — | — | 0.09 | 0.19 | 1.33 | 1.36 | |
| Ultra-FusionModality=LWIO, Year=20262026.06 | 3.5 | 0.17 | 0.12 | 0.12 | 0.08 | 0.14 | 0.03 | 0.29 | 0.14 | 0.2 | 0.54 | 0.08 | |
| Ground-Fusion++Year=20252026.06 | 3.5 | 1.1 | 0.13 | 0.14 | 0.17 | 0.16 | 5.69 | 2.48 | 0.2 | 0.22 | 1.39 | 0.4 | |
| Adaptive-LIOYear=20252026.06 | 3.6 | 0.23 | 0.1 | 0.1 | 0.17 | 0.1 | 0.26 | 0.57 | 0.18 | 0.13 | 0.54 | 0.1 | |
| Ultra-FusionModality=LIO, Year=20262026.06 | 3.8 | 0.19 | 0.12 | 0.14 | 0.08 | 0.15 | 0.17 | 0.25 | 0.14 | 0.2 | 0.54 | 0.07 | |
| Ground-FusionYear=20242026.06 | 4 | 7.52 | 0.19 | 0.59 | 1.1 | 1.21 | 26.25 | 29.93 | 0.29 | 1.16 | 1.33 | 13.19 | |
| FAST-LIVO2Year=20242026.06 | 4.5 | 16.57 | 0.44 | 0.28 | 0.17 | 0.33 | 3.35 | — | 0.51 | 0.81 | 9.71 | 0.09 | |
| Voxel-SLAMYear=20262026.06 | 4.6 | 0.55 | 0.09 | 0.09 | 0.18 | 0.09 | 1.41 | 1.45 | 0.16 | 0.1 | 0.54 | 1.39 | |
| Coco-LICYear=20232026.06 | 5.3 | 16.61 | 1.77 | 0.97 | 0.54 | 1.66 | 6.98 | — | 0.64 | 1.8 | 1.21 | 0.54 | |
| VIW-FusionYear=20222026.06 | 5.5 | 27.99 | 0.62 | 1.02 | 0.77 | — | 5.58 | 16.68 | 0.77 | 2.44 | 2.91 | 99.06 | |
| VINS-RGBDYear=20192026.06 | 5.7 | 49.21 | 0.2 | 1.86 | — | — | 5.62 | — | 0.28 | 0.35 | 7.52 | 26.31 | |
| GVINSYear=20222026.06 | 5.7 | 61.45 | 0.26 | 1.25 | — | — | 9.42 | 2.89 | 0.27 | 0.4 | — | — | |
| CT-LIOYear=20232026.06 | 6.3 | 1 | 0.12 | 0.12 | 0.18 | 0.13 | 3.56 | 2.39 | 0.13 | 0.1 | 0.55 | 2.71 | |
| VINS-MonoYear=20182026.06 | 6.4 | 26.7 | 0.43 | 2.7 | 7.91 | — | 9.82 | 62.8 | 0.46 | 0.36 | 2.17 | 30.36 | |
| GenZ-ICPYear=20252026.06 | 6.4 | 0.41 | 0.14 | 0.14 | 0.15 | 0.16 | 0.32 | 1.61 | 0.25 | 0.21 | 0.53 | 0.63 | |
| LVI-SAMYear=20212026.06 | 6.4 | 22.88 | 0.85 | 136.03 | 4.23 | 30.85 | 7.06 | 28.44 | 0.64 | 0.49 | 7.63 | 12.56 | |
| CTLOYear=20232026.06 | 6.5 | 5.79 | 0.1 | 0.12 | 0.15 | 0.14 | 3.29 | 52.31 | 0.18 | 0.15 | 0.54 | 0.88 | |
| SR-LIVOYear=20242026.06 | 6.5 | 69.59 | 1.23 | 0.28 | 0.09 | 1.31 | — | — | 0.86 | — | — | 92.14 | |
| VINS-GPS-WheelYear=20212026.06 | 6.7 | 25.53 | 1.18 | 1.32 | 15.55 | — | 5.55 | 43.48 | 0.86 | 2 | 18.47 | 16.89 | |
| Eq-LIOYear=20242026.06 | 6.7 | 15.19 | 0.14 | 0.14 | 0.18 | 0.16 | 0.2 | — | 0.24 | 0.2 | 0.53 | 0.07 | |
| MASt3R-SLAMYear=20252026.06 | 6.8 | 90.14 | 0.35 | 0.3 | — | — | — | — | 0.31 | 0.4 | — | — | |
| HM-LIOYear=20232026.06 | 6.8 | 15.48 | 0.12 | 0.15 | 0.17 | 0.14 | 3.23 | — | 0.14 | 0.2 | 0.53 | 0.09 | |
| IESKF-LIOYear=20222026.06 | 6.9 | 16.59 | 0.14 | 0.14 | 0.15 | 0.13 | 14.38 | — | 0.17 | 0.16 | 0.54 | 0.08 | |
| I2EKF-LOYear=20242026.06 | 6.9 | 3.49 | 2.37 | 0.13 | 0.16 | 0.15 | 1.31 | 29.7 | 0.24 | 0.2 | 0.53 | 0.08 | |
| R3LIVEYear=20222026.06 | 6.9 | 33.8 | 8.76 | 4.24 | 1.12 | 9 | 6.07 | — | 1.07 | 6 | 1.69 | — | |
| ORB-SLAM2Year=20172026.06 | 7 | 76.79 | 0.14 | — | — | — | 6.41 | 8.09 | 1.72 | 1.54 | — | — | |
| Traj-LOYear=20242026.06 | 7.1 | 15.36 | 0.13 | 0.13 | 0.15 | 0.15 | 0.87 | — | 0.24 | 0.19 | 0.52 | 1.18 | |
| FAST-LIVOYear=20222026.06 | 7.3 | 63.06 | — | 8.95 | — | 9.49 | 7.96 | — | 0.78 | 1.92 | 1.5 | — | |
| DM-VIOYear=20222026.06 | 7.7 | 63.22 | 2.25 | 2.27 | 4.08 | — | 12.2 | 2.54 | — | 8.9 | — | — | |
| DLIOYear=20232026.06 | 8 | 9.24 | 0.12 | 0.1 | 0.16 | 0.15 | 40.46 | 44.7 | 0.18 | 0.17 | 0.51 | 5.8 | |
| LTAOMYear=20242026.06 | 8 | 15.2 | 0.16 | 0.17 | 0.18 | 0.18 | 0.19 | — | 0.26 | 0.25 | 0.54 | 0.08 | |
| SLICT2Year=20242026.06 | 8.2 | 15.44 | 0.14 | 0.14 | 0.17 | 0.16 | 0.87 | — | 0.24 | 0.2 | 0.53 | 1.91 | |
| CTE-MLOYear=20252026.06 | 8.2 | 30.16 | 0.13 | 0.13 | 0.15 | 0.15 | — | — | 0.25 | 0.2 | 0.53 | 0.07 | |
| RKO-LIOYear=20252026.06 | 8.2 | 15.41 | 0.15 | 0.14 | 0.17 | 0.16 | 2.03 | — | 0.25 | 0.21 | 0.54 | 0.48 | |
| PIN-SLAMYear=20242026.06 | 8.4 | 30.15 | 0.13 | 0.14 | 0.05 | 0.16 | — | — | 0.25 | 0.18 | 0.53 | 0.1 | |
| TartanVOYear=20212026.06 | 8.5 | 62.56 | 2.37 | 2.17 | 12.37 | — | — | — | 1.93 | 2.09 | 4.68 | — | |
| LIGOYear=20252026.06 | 9.1 | 6.62 | 0.1 | 0.12 | 0.25 | 0.16 | 9.55 | 43.34 | 0.19 | 0.17 | 0.55 | 11.75 | |
| Surfel-LIOYear=20252026.06 | 9.2 | 15.51 | 0.16 | 0.16 | 0.18 | 0.18 | 2.87 | — | 0.26 | 0.25 | 0.55 | 0.44 | |
| SLICTYear=20232026.06 | 9.6 | 30.24 | 0.14 | 0.14 | 0.17 | 0.16 | — | — | 0.25 | 0.2 | 0.53 | 0.81 | |
| FAST-LIO2Year=20222026.06 | 9.7 | 31.49 | 0.13 | 0.11 | 0.24 | 0.11 | — | — | 0.16 | 0.18 | 0.51 | 13.46 | |
| LOG-LIO2Year=20242026.06 | 9.7 | 30.18 | 0.15 | 0.15 | 0.18 | 0.17 | — | — | 0.25 | 0.22 | 0.54 | 0.09 | |
| ORB-SLAM3Year=20212026.06 | 9.8 | 150 | — | — | — | — | — | — | — | — | — | — | |
| II-NVMYear=20252026.06 | 10 | 4.17 | 0.14 | 0.14 | 3.77 | 0.16 | 19 | 14.88 | 0.24 | 0.2 | 0.56 | 2.62 | |
| KISS-ICPYear=20232026.06 | 10.2 | 30.29 | 0.15 | 0.15 | 0.15 | 0.17 | — | — | 0.25 | 0.22 | 0.53 | 1.3 | |
| LOG-LIOYear=20232026.06 | 10.6 | 32.92 | 0.13 | 0.12 | 0.99 | 0.14 | — | — | 0.18 | 0.07 | 0.53 | 27.03 | |
| Point-LIOYear=20232026.06 | 10.8 | 17.96 | 0.14 | 0.14 | 0.29 | 0.15 | 9.58 | — | 0.19 | 0.2 | 0.52 | 18.39 | |
| DMSA-SLAMYear=20242026.06 | 10.8 | 45.2 | 0.13 | 0.13 | — | 0.15 | — | — | 0.24 | 0.2 | 0.56 | 0.58 | |
| VoxelMapYear=20222026.06 | 10.9 | 3.07 | 0.89 | 0.76 | 4.93 | 0.91 | 1.08 | 19.22 | 0.99 | 1.11 | 0.78 | 0.07 | |
| Faster-LIOYear=20222026.06 | 11.4 | 31.17 | 0.12 | 0.13 | 0.17 | 0.11 | — | — | 2.19 | 2.84 | 0.5 | 5.6 | |
| GLOYear=20252026.06 | 11.7 | 31.24 | 0.15 | 0.15 | 0.23 | 0.16 | — | — | 0.23 | 0.2 | 0.63 | 10.62 | |
| VoxelMap++Year=20242026.06 | 12.3 | 30.55 | 0.21 | 0.18 | 0.22 | 0.22 | — | — | 0.24 | 0.2 | 1.23 | 3.03 | |
| A-LOAMYear=20182026.06 | 13.6 | 13.22 | 0.15 | 0.16 | 6.36 | 0.19 | 66.66 | 48.37 | 0.29 | 0.26 | 1.29 | 8.46 | |
| LIO-LivoxYear=20212026.06 | 14.7 | 32.04 | 0.18 | 0.72 | 0.3 | 0.47 | — | — | 0.35 | 11.25 | 0.54 | 6.63 | |
| MM-LINSYear=20242026.06 | 16.5 | 24.63 | 2.84 | 2.79 | 0.27 | 1.95 | — | 74.31 | 2.25 | 2.83 | 1.29 | 7.73 | |
| LIO-SAMYear=20202026.06 | 16.7 | 38.99 | 5.1 | 2.24 | — | 1.31 | 36.15 | — | 0.73 | 0.63 | 0.56 | 43.21 | |
| LiLi-OMYear=20212026.06 | 17.3 | 47.93 | 1.49 | 0.19 | — | 7 | — | — | 0.35 | 2.08 | 2.22 | 15.96 | |
| LOAM-LivoxYear=20202026.06 | 17.9 | 30.01 | 2.88 | 3.24 | 2.55 | 2.42 | 43.91 | 87.52 | 1.47 | 1.78 | 4.36 | — | |
| LIO-mappingYear=20192026.06 | 18.3 | 66.53 | 2.03 | 1.95 | — | 2.46 | — | — | 1.05 | 1.46 | 56.3 | — | |
| LeGO-LOAMYear=20182026.06 | 19.8 | 49.01 | 7.92 | — | 13.4 | 6.28 | 19.65 | — | 5.89 | 8.4 | 32.67 | 95.91 | |
| LINSYear=20202026.06 | 20.2 | 58.05 | 10.18 | 3.4 | 13.25 | 5.07 | — | — | 5.03 | 5.04 | 88.55 | — |