Trajectory Estimation on GrandTour SPX-2 urban large-scale
0.41RTE (cm)Ultra-Fusion
Evaluation results
| Method | Links | |
|---|---|---|
| Ultra-Fusionconfiguration=LVIO2026.06 | 0.41 | |
| Coco-LIC2026.06 | 0.44 | |
| Voxel-SLAM2026.06 | 1.03 | |
| FAST-LIVO22026.06 | 1.05 | |
| Traj-LO2026.06 | 1.11 | |
| PV-LIO2026.06 | 1.14 | |
| Fast-LIMO2026.06 | 1.15 | |
| I2EKF-LO2026.06 | 1.22 | |
| DLIO2026.06 | 1.22 | |
| RESPLE-LO2026.06 | 1.4 | |
| GenZ-ICP2026.06 | 1.51 | |
| CT-LO2026.06 | 1.55 | |
| DLO2026.06 | 1.77 | |
| Ground-Fusion++2026.06 | 1.82 | |
| CTE-MLO2026.06 | 2.12 | |
| KISS-ICP2026.06 | 3.28 | |
| FAST-LIVO2026.06 | 69.98 | |
| Ground-Fusion2026.06 | 983.19 |