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LiDAR-Inertial Odometry research benchmarks – Page 4 · SOTA2 Research

LiDAR-Inertial Odometry

Benchmarks

Dataset NameSOTA MethodSort

Dataset NameSOTA methodMetricTrendResultsLast Updated

Real-world flight trajectories (seq1)

MSCKF-based LIO

103.41Memory Usage (MB)

3

Mar 16, 2026

MSCKF-based LIO

1.11Translation Error

3

Mar 16, 2026

0.724APE RMSE Seq 01 (Day)

3

Feb 26, 2026

2.8E2E Error (m)

3

Feb 26, 2026

MARSIM avia_BG Simulation

0.15ATE (m)

3

Feb 26, 2026

MARSIM avia_CA (Simulation)

0.25ATE (m)

3

Feb 26, 2026

MARSIM avia_CR Simulation

0.36ATE (m)

2

Feb 26, 2026

Quadruped robot sidewalk sequence

—

—Primary metric

0

May 12, 2026

Quadruped robot building sequence

—

—Primary metric

0

May 12, 2026

Quadruped robot lawn sequence

—

—Primary metric

0

May 12, 2026

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Popular datasets

MARSIM NCLT Real-world flight trajectories Self-Collected Dataset UTBM

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