[{"data":1,"prerenderedAt":1236},["ShallowReactive",2],{"method-fastlivo2022":3},{"method":4,"reference":59,"equipment":82,"figures":136,"results":137},{"id":5,"label":6,"shortName":7,"title":8,"year":9,"era":10,"cluster":11,"scope":12,"keyIdeaZh":13,"keyIdeaEn":14,"fulltextStatus":15,"publicationStatus":16,"recommendation":17,"constructionRelevance":18,"validationEnvironment":19,"strengths":21,"limitations":25,"sensors":29,"platform":33,"estimator":36,"association":37,"timeModel":38,"deskew":39,"loopClosure":40,"globalOptimization":40,"mapRepresentation":41,"prior":42,"outputGeometry":43,"compute":44,"codeUrl":45,"codeLicense":46,"relatedVersions":47},"fastlivo2022","Zheng et al., 2022","FAST-LIVO","FAST-LIVO: Fast and Tightly-coupled Sparse-Direct LiDAR-Inertial-Visual Odometry",2022,"recent","C07","odometry_with_local_mapping","FAST-LIVO 的 LIO 與 VIO 皆採直接法（direct method）：光達原始點以點到平面殘差配準到地圖，視覺部分則把影像小區塊（patch）附掛在光達地圖點上，直接以稀疏光度誤差對齊新影像，不擷取、不三角化視覺特徵。兩者在 ESIKF 中緊密耦合，並以遮蔽與深度不連續檢測剔除不穩定地圖點，因此計算成本低且可在 ARM 處理器上即時執行。","A sparse-direct LIVO that reuses LiDAR map points as visual landmarks carrying image patches, fusing point-to-plane and photometric residuals in an ESIKF at low computational cost.","full_text_reviewed","peer_reviewed_published","background","未報告營建工地或隧道驗證；公開資料為 NTU-VIRAL 無人機序列，另有校園私人資料。",[20],"public_benchmark",[22,23,24],"Lower computation than feature-based LIV systems","runs on Intel and ARM processors (abstract","Table III) | Supports both spinning and solid-state LiDARs (Sec. I) | End-to-end error of 0.04 m over a 79.52 m indoor-outdoor path with texture-less wall and aggressive motions (Sec. VI-B3) | End-to-end drift of 0.05 m while moving along a wall about 30 m long, where FAST-LIO2 and SVO2.0 drifted (qualitative comparison) (Sec. VI-B2, Fig. 5)",[26,27,28],"Assumes all pixels of a patch share one depth, which reduces affine warping accuracy (reported by successor fastlivo2_2025, Sec. I)","No exposure-time handling and no treatment of LiDAR close-range blind zones (fastlivo2_2025, Sec. I)","No loop closure (inference from system design)",[30,31,32],"3D LiDAR (Ouster OS1-16 in NTU-VIRAL; Livox Avia in private data)","IMU","camera",[34,35],"UAV (NTU-VIRAL)","custom sensor platform with Livox Avia, two industrial cameras and an onboard DJI Manifold-2C (carrying mode not stated in the paper)","error-state iterated Kalman filter fusing LiDAR and visual updates (LIO adapted from FAST-LIO2)","raw LiDAR points with frame-to-map point-to-plane residual; sparse-direct frame-to-map alignment of 8x8 image patches attached to LiDAR map points, with occlusion and depth-discontinuity outlier rejection","discrete poses","backward propagation as in FAST-LIO2 (Sec. III)","none","LiDAR global map adopted from FAST-LIO2 (all past points in an ikd-Tree with internal downsampling) plus a separate visual global map of previously observed LiDAR points in equal-size hash-indexed voxels, each point storing several 8x8 patch pyramids with their camera poses","Time offsets among LiDAR, IMU and camera assumed known (calibrated or synchronized in advance) and extrinsics pre-calibrated; the private rig is hardware-synchronized by STM32 timers at 10 Hz","real-time dense RGB-colored point cloud (Sec. VI-B4, Fig. 7)","Mean times: VIO 10.23 ms and LIO 26.52 ms on a desktop Intel i7 (text: 8-core i7-10700U), VIO 13.82 ms and LIO 51.51 ms on Qualcomm RB5 (Kryo585); whole system 36.75 ms per LiDAR and image frame versus 45.16 ms plus 59.27 ms for R2LIVE","https:\u002F\u002Fgithub.com\u002Fhku-mars\u002FFAST-LIVO","GPL-2.0 (LICENSE file checked)",[48,52,56],{"relation":49,"title":50,"doi_or_url":51},"preprint","FAST-LIVO arXiv v1 (2022-03-02)","https:\u002F\u002Farxiv.org\u002Fabs\u002F2203.00893",{"relation":53,"title":54,"doi_or_url":55},"journal_extension","FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry (states it is developed based on FAST-LIVO)","10.1109\u002FTRO.2024.3502198",{"relation":57,"title":58,"doi_or_url":45},"code_release","hku-mars\u002FFAST-LIVO",{"id":5,"kind":60,"shortName":7,"title":8,"authors":61,"year":9,"venue":68,"venueType":69,"publisher":70,"volumeIssuePages":71,"doi":72,"arxivId":73,"url":51,"firstPublicDate":74,"publicationStatus":16,"metadataStatus":75,"fulltextStatus":15,"era":10,"classicReason":76,"codeUrl":45,"cluster":11,"topics":77,"mdpi":78,"verification":79,"label":6,"fulltextRoute":80,"versionRead":81,"addedByCensus":78},"method",[62,63,64,65,66,67],"Chunran Zheng","Qingyan Zhu","Wei Xu","Xiyuan Liu","Qizhi Guo","Fu Zhang","2022 IEEE\u002FRSJ International Conference on Intelligent Robots and Systems (IROS)","conference","IEEE","pp. 4003-4009","10.1109\u002Firos47612.2022.9981107","2203.00893","2022-03-02","metadata_verified","not_applicable",[11],false,"confirmed","arXiv","arXiv 2203.00893v1 (2022-03-02; submitted-to-IROS preprint, 7 pages); IROS 2022 camera-ready not compared",[83,90,94,96,100,106,109,112,118,122,126,132],{"category":84,"model":85,"canonical":85,"role":86,"dataset":87,"specs":88,"locator":89},"lidar","OS1 gen1 (16-channel)","dataset sensor","NTU-VIRAL","horizontal 16-channel spinning LiDAR","Sec. VI-A",{"category":91,"model":92,"canonical":92,"role":86,"dataset":87,"specs":93,"locator":89},"imu","OS1 internal IMU","not_reported",{"category":32,"model":95,"canonical":95,"role":86,"dataset":87,"specs":93,"locator":89},"left camera (model not stated)",{"category":97,"model":98,"canonical":98,"role":86,"dataset":87,"specs":99,"locator":89},"platform","UAV","aerial platform of NTU-VIRAL (fast UAV motion noted)",{"category":84,"model":101,"canonical":101,"role":102,"dataset":103,"specs":104,"locator":105},"Livox Avia","method input","FAST-LIVO private dataset","solid-state LiDAR with built-in IMU","Sec. VI-B1; Fig. 4",{"category":91,"model":107,"canonical":107,"role":102,"dataset":103,"specs":93,"locator":108},"Livox Avia built-in IMU","Fig. 4",{"category":32,"model":110,"canonical":110,"role":102,"dataset":103,"specs":111,"locator":105},"MV-CA013-21UC","two industrial cameras (left and right)",{"category":113,"model":114,"canonical":115,"role":86,"dataset":103,"specs":116,"locator":117},"compute","DJI manifold-2c","DJI Manifold 2C","onboard computer of the data rig; Intel i7-8550u CPU and 8 GB RAM","Sec. VI-B1",{"category":119,"model":120,"canonical":120,"role":86,"dataset":103,"specs":121,"locator":105},"other","STM32 synchronized timers","hardware trigger at 10 Hz for all sensors (PWM to LiDAR and camera)",{"category":123,"model":124,"canonical":124,"role":86,"dataset":103,"specs":125,"locator":108},"gnss","GPS receiver (labelled in Fig. 4)","not_reported (no GNSS use described)",{"category":113,"model":127,"canonical":128,"role":129,"dataset":130,"specs":93,"locator":131},"desktop PC with 8-core Intel Core i7-10700U (as written)","desktop PC with 8-core Intel Core i7-10700U","compute for runtime",null,"Sec. VI-C",{"category":113,"model":133,"canonical":133,"role":129,"dataset":130,"specs":134,"locator":135},"RB5 with Qualcomm Kryo585 CPU","embedded ARM platform","Sec. VI-C; Table III",[],{"totalRows":138,"groupCount":139,"groups":140,"others":1142},158,20,[141,531,665,963],{"slug":142,"group":143,"sourceId":144,"sourceLabel":145,"table":146,"selfRows":147,"metrics":148,"seqs":152,"entrants":207,"cells":224,"outcomes":490,"locators":491,"hardware":493,"wordings":494,"notes":529},"r3livepp2024-table-iii","r3livepp2024:Table III","r3livepp2024","Lin & Zhang, 2024","Table III",26,[149],{"label":150,"unit":151,"statistic":93,"alignment":93},"APE (m)","m",[153,157,159,161,163,165,167,169,171,173,175,177,179,181,183,185,187,189,191,193,195,197,199,201,203,205],{"dataset":154,"sequence":155,"environment":156},"NCLT","2012-01-08 (6495.7 m, 01:25:35)","University of Michigan North Campus, indoor and outdoor, all seasons (Segway robot)",{"dataset":154,"sequence":158,"environment":156},"2012-01-15 (7499.8 m, 01:52:19)",{"dataset":154,"sequence":160,"environment":156},"2012-01-22 (6183.1 m, 01:27:22)",{"dataset":154,"sequence":162,"environment":156},"2012-02-02 (6315.8 m, 01:38:36)",{"dataset":154,"sequence":164,"environment":156},"2012-02-04 (5641.0 m, 01:18:30)",{"dataset":154,"sequence":166,"environment":156},"2012-02-05 (6649.3 m, 01:34:17)",{"dataset":154,"sequence":168,"environment":156},"2012-02-12 (5829.1 m, 01:25:35)",{"dataset":154,"sequence":170,"environment":156},"2012-02-18 (6249.2 m, 01:29:55)",{"dataset":154,"sequence":172,"environment":156},"2012-02-19 (6232.7 m, 01:29:11)",{"dataset":154,"sequence":174,"environment":156},"2012-03-17 (5907.2 m, 01:22:53)",{"dataset":154,"sequence":176,"environment":156},"2012-03-31 (6073.7 m, 01:27:53)",{"dataset":154,"sequence":178,"environment":156},"2012-04-29 (3183.1 m, 00:43:18)",{"dataset":154,"sequence":180,"environment":156},"2012-05-11 (6116.7 m, 01:25:05)",{"dataset":154,"sequence":182,"environment":156},"2012-05-26 (6340.7 m, 01:28:34)",{"dataset":154,"sequence":184,"environment":156},"2012-06-15 (4085.9 m, 00:55:10)",{"dataset":154,"sequence":186,"environment":156},"2012-08-04 (5492.1 m, 01:20:32)",{"dataset":154,"sequence":188,"environment":156},"2012-08-20 (6014.5 m, 01:23:48)",{"dataset":154,"sequence":190,"environment":156},"2012-09-28 (5574.4 m, 01:17:59)",{"dataset":154,"sequence":192,"environment":156},"2012-10-28 (5682.1 m, 01:26:10)",{"dataset":154,"sequence":194,"environment":156},"2012-11-04 (4788.3 m, 01:20:39)",{"dataset":154,"sequence":196,"environment":156},"2012-11-17 (5751.9 m, 01:29:44)",{"dataset":154,"sequence":198,"environment":156},"2012-12-01 (4991.9 m, 01:16:48)",{"dataset":154,"sequence":200,"environment":156},"2013-01-10 (1137.3 m, 00:17:04)",{"dataset":154,"sequence":202,"environment":156},"2013-02-23 (5235.3 m, 01:20:08)",{"dataset":154,"sequence":204,"environment":156},"2013-04-05 (4523.7 m, 01:09:27)",{"dataset":154,"sequence":206,"environment":156},"Average",[208,211,214,217,218,221],{"name":209,"methodId":144,"linkable":210,"proposed":210,"self":78},"Our (R3LIVE++)",true,{"name":212,"methodId":213,"linkable":210,"proposed":78,"self":78},"R2LIVE","r2live2021",{"name":215,"methodId":216,"linkable":210,"proposed":78,"self":78},"LVI-SAM","lvisam2021",{"name":7,"methodId":5,"linkable":210,"proposed":78,"self":210},{"name":219,"methodId":220,"linkable":210,"proposed":78,"self":78},"Fast-LIO2","fastlio2_2022",{"name":222,"methodId":223,"linkable":210,"proposed":78,"self":78},"LIO-SAM","liosam2020",[225,229,232,235,238,241,244,247,250,253,255,257,259,262,265,268,270,273,276,279,280,283,285,287,290,293,295,297,299,300,302,304,306,309,311,313,316,317,319,322,325,328,330,331,332,334,336,338,339,340,342,343,344,346,348,350,351,353,355,357,359,361,363,364,366,367,369,371,373,375,376,378,379,381,382,384,386,387,390,391,392,394,396,398,399,400,401,402,405,406,407,409,410,411,413,414,415,417,418,420,422,423,424,425,426,428,430,432,434,436,437,439,440,442,443,445,447,449,451,454,455,456,457,458,459,460,461,463,464,466,467,468,470,472,473,475,476,478,479,480,481,482,484,485,487,488],[226,226,226,227,228,226,228,226,226],0,10.8,-1,[230,226,226,231,228,226,228,230,226],1,22.4,[233,226,226,234,228,226,228,233,226],2,23.4,[236,226,226,237,228,226,228,236,226],3,13.4,[239,226,226,240,228,226,228,239,226],4,18.5,[242,226,226,243,228,226,228,242,226],5,21.7,[226,226,230,245,228,226,228,246,226],6.6,6,[230,226,230,248,228,226,228,249,226],5.1,7,[236,226,230,251,228,226,228,252,226],8.5,8,[239,226,230,254,228,226,228,249,226],4.8,[226,226,233,256,228,226,228,252,226],9.2,[230,226,233,258,228,226,228,226,226],12.6,[233,226,233,260,228,226,228,261,226],8.3,9,[236,226,233,263,228,226,228,264,226],14.1,10,[239,226,233,266,228,226,228,267,226],7.1,11,[242,226,233,261,228,226,228,269,226],12,[226,226,236,271,228,226,228,272,226],5.3,13,[230,226,236,274,228,226,228,275,226],6.1,14,[233,226,236,277,228,226,228,278,226],18.1,15,[236,226,236,269,228,226,228,252,226],[239,226,236,281,228,226,228,282,226],9.1,16,[242,226,236,284,228,226,228,269,226],15.6,[226,226,239,286,228,226,228,246,226],5.6,[230,226,239,288,228,226,228,289,226],8.4,17,[233,226,239,291,228,226,228,292,226],9.6,18,[236,226,239,294,228,226,228,246,226],6.2,[239,226,239,296,228,226,228,246,226],7.2,[242,226,239,227,228,226,228,298,226],19,[226,226,242,251,228,226,228,139,226],[230,226,242,301,228,226,228,275,226],7.6,[236,226,242,303,228,226,228,289,226],8.2,[239,226,242,305,228,226,228,278,226],7.8,[226,226,246,307,228,226,228,308,226],4.5,21,[230,226,246,310,228,226,228,289,226],6.5,[233,226,246,312,228,226,228,236,226],40,[236,226,246,314,228,226,228,315,226],16.4,22,[239,226,246,260,228,226,228,269,226],[242,226,246,318,228,226,228,261,226],45,[226,226,249,320,228,226,228,321,226],40.5,23,[230,226,249,323,228,226,228,324,226],59.3,24,[236,226,249,326,228,226,228,327,226],43,25,[239,226,249,329,228,226,228,147,226],57,[226,226,252,251,228,226,228,275,226],[230,226,252,245,228,226,228,308,226],[233,226,252,333,228,226,228,267,226],8.9,[236,226,252,335,228,226,228,139,226],8.6,[239,226,252,246,228,226,228,337,226],27,[242,226,252,291,228,226,228,246,226],[226,226,261,254,228,226,228,246,226],[230,226,261,341,228,226,228,275,226],5.9,[233,226,261,258,228,226,228,246,226],[236,226,261,271,228,226,228,267,226],[239,226,261,345,228,226,228,246,226],4.7,[242,226,261,347,228,226,228,246,226],11.8,[226,226,264,349,228,226,228,267,226],4.9,[230,226,264,264,228,226,228,252,226],[233,226,264,298,228,226,228,352,226],28,[236,226,264,354,228,226,228,275,226],5.2,[239,226,264,356,228,226,228,282,226],7.3,[242,226,264,358,228,226,228,352,226],18.3,[226,226,267,360,228,226,228,289,226],6.3,[230,226,267,362,228,226,228,275,226],6.4,[233,226,267,341,228,226,228,269,226],[236,226,267,365,228,226,228,289,226],7.7,[239,226,267,362,228,226,228,275,226],[242,226,267,368,228,226,228,289,226],5.7,[226,226,269,370,228,226,228,308,226],3.7,[230,226,269,372,228,226,228,308,226],3.8,[233,226,269,374,228,226,228,236,226],4.2,[236,226,269,349,228,226,228,267,226],[239,226,269,377,228,226,228,272,226],4.1,[242,226,269,374,228,226,228,236,226],[226,226,272,380,228,226,228,308,226],4.6,[230,226,272,360,228,226,228,267,226],[233,226,272,358,228,226,228,383,226],29,[236,226,272,385,228,226,228,139,226],7.4,[239,226,272,362,228,226,228,267,226],[242,226,272,388,228,226,228,389,226],18.4,30,[226,226,275,365,228,226,228,139,226],[230,226,275,360,228,226,228,246,226],[236,226,275,393,228,226,228,139,226],7.9,[239,226,275,271,228,226,228,395,226],31,[226,226,278,397,228,226,228,395,226],3.9,[230,226,278,370,228,226,228,395,226],[233,226,278,267,228,226,228,242,226],[236,226,278,242,228,226,228,249,226],[239,226,278,249,228,226,228,139,226],[242,226,278,403,228,226,228,404,226],12.7,32,[226,226,282,307,228,226,228,246,226],[230,226,282,307,228,226,228,246,226],[233,226,282,408,228,226,228,246,226],11.2,[236,226,282,242,228,226,228,267,226],[239,226,282,246,228,226,228,246,226],[242,226,282,412,228,226,228,246,226],11.4,[226,226,289,393,228,226,228,246,226],[230,226,289,245,228,226,228,272,226],[233,226,289,416,228,226,228,272,226],34.4,[236,226,289,335,228,226,228,308,226],[239,226,289,419,228,226,228,278,226],10.4,[242,226,289,421,228,226,228,246,226],36.7,[226,226,292,365,228,226,228,275,226],[230,226,292,252,228,226,228,275,226],[236,226,292,252,228,226,228,275,226],[239,226,292,365,228,226,228,275,226],[226,226,298,427,228,226,228,226,226],7.5,[230,226,298,429,228,226,228,264,226],9.3,[233,226,298,431,228,226,228,264,226],3.4,[236,226,298,433,228,226,228,261,226],8.1,[239,226,298,435,228,226,228,249,226],3.3,[242,226,298,431,228,226,228,261,226],[226,226,139,438,228,226,228,139,226],8.7,[230,226,139,310,228,226,228,272,226],[233,226,139,441,228,226,228,272,226],21.9,[236,226,139,303,228,226,228,278,226],[239,226,139,444,228,226,228,308,226],5.8,[242,226,139,446,228,226,228,278,226],24.2,[226,226,308,448,228,226,228,289,226],11.3,[230,226,308,450,228,226,228,278,226],14.2,[233,226,308,452,228,226,228,453,226],6.9,33,[236,226,308,347,228,226,228,289,226],[239,226,308,385,228,226,228,267,226],[242,226,308,296,228,226,228,226,226],[226,226,315,431,228,226,228,308,226],[230,226,315,380,228,226,228,267,226],[233,226,315,349,228,226,228,246,226],[236,226,315,370,228,226,228,272,226],[239,226,315,462,228,226,228,308,226],3.5,[242,226,315,248,228,226,228,267,226],[226,226,321,465,228,226,228,267,226],11.6,[230,226,321,237,228,226,228,139,226],[233,226,321,258,228,226,228,275,226],[236,226,321,469,228,226,228,275,226],12.2,[239,226,321,471,228,226,228,139,226],11.9,[242,226,321,469,228,226,228,315,226],[226,226,324,474,228,226,228,289,226],8.8,[230,226,324,471,228,226,228,269,226],[233,226,324,477,228,226,228,252,226],9.8,[236,226,324,419,228,226,228,278,226],[239,226,324,362,228,226,228,289,226],[242,226,324,261,228,226,228,252,226],[226,226,327,251,228,226,228,139,226],[230,226,327,483,228,226,228,282,226],10.6,[233,226,327,278,228,226,228,236,226],[236,226,327,486,228,226,228,278,226],10.3,[239,226,327,291,228,226,228,289,226],[242,226,327,489,228,226,228,264,226],15.4,[],[492],"VoR Table III",[],[495,496,497,498,499,500,501,502,503,504,505,506,507,508,509,510,511,512,513,514,515,516,517,518,519,520,521,522,523,524,525,526,527,528],"APE (m), printed with STD 2.7 m","APE (m), printed with STD 3.5 m","APE (m), printed with STD 3.7 m","APE (m), printed with STD 2.9 m","APE (m), printed with STD 3.3 m","APE (m), printed with STD 3.6 m","APE (m), printed with STD 1.8 m","APE (m), printed with STD 1.5 m","APE (m), printed with STD 2.5 m","APE (m), printed with STD 2.8 m","APE (m), printed with STD 3.0 m","APE (m), printed with STD 1.9 m","APE (m), printed with STD 2.6 m","APE (m), printed with STD 1.7 m","APE (m), printed with STD 2.0 m","APE (m), printed with STD 2.4 m","APE (m), printed with STD 2.3 m","APE (m), printed with STD 2.2 m","APE (m), printed with STD 5.0 m","APE (m), printed with STD 5.3 m","APE (m), printed with STD 2.1 m","APE (m), printed with STD 1.6 m","APE (m), printed with STD 3.4 m","APE (m), printed with STD 3.9 m","APE (m), printed with STD 4.8 m","APE (m), printed with STD 4.1 m","APE (m), printed with STD 4.6 m","APE (m), printed with STD 1.3 m","APE (m), printed with STD 3.2 m","APE (m), printed with STD 4.4 m","APE (m), printed with STD 4.5 m","APE (m), printed with STD 1.4 m","APE (m), printed with STD 3.8 m","APE (m), printed with STD 3.1 m",[530],"VoR Table III: absolute position error (APE, m) with standard deviation on NCLT (front-facing camera and 3D LiDAR, Segway robot), computed on the odometry output at LiDAR input for every method; loop closure of LIO-SAM and LVI-SAM deactivated; photometric calibration disabled for R3LIVE++ (unavailable for NCLT); '-' = failed midway, excluded from the averages; Our_LIO column omitted. The text says 2012-03-17 and 2012-08-04 were excluded for a 100 ms LiDAR-IMU timestamp delay, yet both appear in the 25-row table.",{"slug":532,"group":533,"sourceId":534,"sourceLabel":535,"table":146,"selfRows":292,"metrics":536,"seqs":540,"entrants":560,"cells":574,"outcomes":658,"locators":660,"hardware":661,"wordings":662,"notes":663},"srlivo2024-table-iii","srlivo2024:Table III","srlivo2024","Yuan et al., 2024",[537],{"label":538,"unit":151,"statistic":539,"alignment":93},"RMSE of ATE","RMSE",[541,544,546,548,550,552,554,556,558],{"dataset":87,"sequence":542,"environment":543},"eee_01","drone-collected sequences; laser-tracking position ground truth",{"dataset":87,"sequence":545,"environment":543},"eee_02",{"dataset":87,"sequence":547,"environment":543},"eee_03",{"dataset":87,"sequence":549,"environment":543},"nya_01",{"dataset":87,"sequence":551,"environment":543},"nya_02",{"dataset":87,"sequence":553,"environment":543},"nya_03",{"dataset":87,"sequence":555,"environment":543},"sbs_01",{"dataset":87,"sequence":557,"environment":543},"sbs_02",{"dataset":87,"sequence":559,"environment":543},"sbs_03",[561,564,566,568,570,572],{"name":562,"methodId":563,"linkable":210,"proposed":78,"self":78},"R3Live (LIO module)","r3live2022",{"name":565,"methodId":563,"linkable":210,"proposed":78,"self":78},"R3Live(V) (LiDAR-assisted VIO module)",{"name":567,"methodId":5,"linkable":210,"proposed":78,"self":210},"Fast-LIVO (LIO)",{"name":569,"methodId":5,"linkable":210,"proposed":78,"self":210},"Fast-LIVO(V) (LiDAR-assisted VIO)",{"name":571,"methodId":534,"linkable":210,"proposed":210,"self":78},"Ours (SR-LIVO LIO)",{"name":573,"methodId":534,"linkable":210,"proposed":78,"self":78},"Ours(V) (authors' R3Live-like LiDAR-assisted VIO module, ablation)",[575,577,579,581,583,585,587,588,589,591,593,595,596,598,600,601,603,605,606,608,609,611,612,613,615,617,619,621,622,623,625,626,628,629,630,631,632,634,636,638,640,642,644,645,646,648,650,651,652,653,654,655,656,657],[226,226,226,576,228,226,228,228,226],1.69,[230,226,226,578,228,226,228,228,226],1.71,[233,226,226,580,228,226,228,228,226],0.28,[236,226,226,582,228,226,228,228,226],0.3,[239,226,226,584,228,226,228,228,226],0.21,[242,226,226,586,228,226,228,228,226],0.24,[226,226,230,130,226,226,228,228,226],[230,226,230,130,226,226,228,228,226],[233,226,230,590,228,226,228,228,226],0.18,[236,226,230,592,228,226,228,228,226],0.26,[239,226,230,594,228,226,228,228,226],0.23,[242,226,230,594,228,226,228,228,226],[226,226,233,597,228,226,228,228,226],0.64,[230,226,233,599,228,226,228,228,226],0.81,[233,226,233,592,228,226,228,228,226],[236,226,233,602,228,226,228,228,226],0.27,[239,226,233,604,228,226,228,228,226],0.22,[242,226,233,602,228,226,228,228,226],[226,226,236,607,228,226,228,228,226],0.63,[230,226,236,607,228,226,228,228,226],[233,226,236,610,228,226,228,228,226],0.33,[236,226,236,610,228,226,228,228,226],[239,226,236,590,228,226,228,228,226],[242,226,236,614,228,226,228,228,226],0.19,[226,226,239,616,228,226,228,228,226],0.35,[230,226,239,618,228,226,228,228,226],0.41,[233,226,239,620,228,226,228,228,226],0.29,[236,226,239,582,228,226,228,228,226],[239,226,239,614,228,226,228,228,226],[242,226,239,624,228,226,228,228,226],0.2,[226,226,242,594,228,226,228,228,226],[230,226,242,627,228,226,228,228,226],0.32,[233,226,242,604,228,226,228,228,226],[236,226,242,620,228,226,228,228,226],[239,226,242,624,228,226,228,228,226],[242,226,242,586,228,226,228,228,226],[226,226,246,633,228,226,228,228,226],0.4,[230,226,246,635,228,226,228,228,226],0.7,[233,226,246,637,228,226,228,228,226],0.73,[236,226,246,639,228,226,228,228,226],0.42,[239,226,246,641,228,226,228,228,226],0.12,[242,226,246,643,228,226,228,228,226],0.38,[226,226,249,602,228,226,228,228,226],[230,226,249,610,228,226,228,228,226],[233,226,249,647,228,226,228,228,226],0.25,[236,226,249,649,228,226,228,228,226],0.31,[239,226,249,604,228,226,228,228,226],[242,226,249,604,228,226,228,228,226],[226,226,252,584,228,226,228,228,226],[230,226,252,594,228,226,228,228,226],[233,226,252,586,228,226,228,228,226],[236,226,252,602,228,226,228,228,226],[239,226,252,584,228,226,228,228,226],[242,226,252,604,228,226,228,228,226],[659],"diverged",[146],[],[],[664],"RMSE of ATE of LIO output versus LiDAR-assisted VIO output within each framework on NTU-VIRAL; 'x' = drifted halfway",{"slug":666,"group":667,"sourceId":668,"sourceLabel":669,"table":670,"selfRows":289,"metrics":671,"seqs":676,"entrants":728,"cells":747,"outcomes":954,"locators":956,"hardware":958,"wordings":959,"notes":960},"fastlivo2-2025-table-ii","fastlivo2_2025:Table II","fastlivo2_2025","Zheng et al., 2025","Table II",[672,674],{"label":673,"unit":151,"statistic":539,"alignment":93},"absolute translational errors (RMSE)",{"label":675,"unit":151,"statistic":539,"alignment":93},"absolute translational errors (RMSE), Average row",[677,681,683,686,689,692,695,698,701,705,707,709,712,715,718,721,724],{"dataset":678,"sequence":679,"environment":680},"Hilti'22","Construction Ground","construction site",{"dataset":678,"sequence":682,"environment":680},"Construction Multilevel",{"dataset":678,"sequence":684,"environment":685},"Construction Stairs","construction site, stairs",{"dataset":678,"sequence":687,"environment":688},"Long Corridor","long corridor",{"dataset":678,"sequence":690,"environment":691},"Cupola","indoor building (cupola)",{"dataset":678,"sequence":693,"environment":694},"Lower Gallery","indoor building (gallery)",{"dataset":678,"sequence":696,"environment":697},"Attic to Upper Gallery","indoor building (attic and gallery)",{"dataset":678,"sequence":699,"environment":700},"Outside Building","outdoor around building",{"dataset":702,"sequence":703,"environment":704},"Hilti'23","Floor 0","indoor floor",{"dataset":702,"sequence":706,"environment":704},"Floor 1",{"dataset":702,"sequence":708,"environment":704},"Floor 2",{"dataset":702,"sequence":710,"environment":711},"Basement","basement",{"dataset":702,"sequence":713,"environment":714},"Stairs","stairs",{"dataset":702,"sequence":716,"environment":717},"Parking 3x floors down","underground parking",{"dataset":702,"sequence":719,"environment":720},"Large room","large room",{"dataset":702,"sequence":722,"environment":723},"Large room (dark)","large room, dark",{"dataset":725,"sequence":726,"environment":727},"NTU-VIRAL, Hilti'22, Hilti'23","Average (25 sequences)","mixed aerial, construction, indoor and outdoor",[729,731,733,735,737,738,739,741,743,745],{"name":730,"methodId":130,"linkable":78,"proposed":78,"self":78},"SDV-LOAM",{"name":732,"methodId":130,"linkable":78,"proposed":78,"self":78},"Our LIO",{"name":734,"methodId":220,"linkable":210,"proposed":78,"self":78},"FAST-LIO2",{"name":736,"methodId":563,"linkable":210,"proposed":78,"self":78},"R3LIVE",{"name":215,"methodId":216,"linkable":210,"proposed":78,"self":78},{"name":7,"methodId":5,"linkable":210,"proposed":78,"self":210},{"name":740,"methodId":668,"linkable":210,"proposed":210,"self":78},"Ours",{"name":742,"methodId":130,"linkable":78,"proposed":78,"self":78},"Ours (w\u002Fo expo)",{"name":744,"methodId":130,"linkable":78,"proposed":78,"self":78},"Ours (w normal)",{"name":746,"methodId":130,"linkable":78,"proposed":78,"self":78},"Ours (w\u002Fo update)",[748,750,752,754,756,757,759,761,763,765,767,769,770,772,774,776,778,779,781,783,785,787,789,791,793,794,796,798,800,802,803,804,806,807,809,811,813,815,816,818,820,821,823,825,827,829,831,832,834,836,838,840,842,844,846,847,849,851,852,853,855,856,857,858,860,862,863,864,866,867,869,871,873,875,877,878,880,881,883,884,886,887,888,889,890,892,894,896,897,899,901,902,904,906,907,909,910,912,914,916,917,918,919,921,922,924,926,928,930,932,933,935,936,938,940,942,944,946,948,949,950,952],[226,226,226,749,228,226,228,228,226],25.121,[230,226,226,751,228,226,228,228,226],0.011,[233,226,226,753,228,226,228,228,226],0.013,[236,226,226,755,228,226,228,228,226],0.021,[239,226,226,130,226,226,228,228,226],[242,226,226,758,228,226,228,228,226],0.022,[246,226,226,760,228,226,228,228,226],0.01,[226,226,230,762,228,226,228,228,226],12.561,[230,226,230,764,228,226,228,228,226],0.031,[233,226,230,766,228,226,228,228,226],0.044,[236,226,230,768,228,226,228,228,226],0.024,[239,226,230,130,226,226,228,228,226],[242,226,230,771,228,226,228,228,226],0.052,[246,226,230,773,228,226,228,228,226],0.02,[226,226,233,775,228,226,228,228,226],9.212,[230,226,233,777,228,226,228,228,226],0.221,[233,226,233,627,228,226,228,228,226],[236,226,233,780,228,226,228,228,226],0.784,[239,226,233,782,228,226,228,228,226],9.142,[242,226,233,784,228,226,228,228,226],0.241,[246,226,233,786,228,226,228,228,226],0.016,[226,226,236,788,228,226,228,228,226],19.531,[230,226,236,790,228,226,228,228,226],0.061,[233,226,236,792,228,226,228,228,226],0.064,[236,226,236,790,228,226,228,228,226],[239,226,236,795,228,226,228,228,226],6.312,[242,226,236,797,228,226,228,228,226],0.065,[246,226,236,799,228,226,228,228,226],0.067,[226,226,239,801,228,226,228,228,226],9.321,[230,226,239,777,228,226,228,228,226],[233,226,239,647,228,226,228,228,226],[236,226,239,805,228,226,228,228,226],2.142,[239,226,239,130,226,226,228,228,226],[242,226,239,808,228,226,228,228,226],0.182,[246,226,239,810,228,226,228,228,226],0.121,[226,226,242,812,228,226,228,228,226],11.232,[230,226,242,814,228,226,228,228,226],0.014,[233,226,242,768,228,226,228,228,226],[236,226,242,817,228,226,228,228,226],0.008,[239,226,242,819,228,226,228,228,226],2.281,[242,226,242,758,228,226,228,228,226],[246,226,242,822,228,226,228,228,226],0.007,[226,226,246,824,228,226,228,228,226],4.551,[230,226,246,826,228,226,228,228,226],0.223,[233,226,246,828,228,226,228,228,226],0.72,[236,226,246,830,228,226,228,228,226],2.412,[239,226,246,130,226,226,228,228,226],[242,226,246,833,228,226,228,228,226],0.621,[246,226,246,835,228,226,228,228,226],0.069,[226,226,249,837,228,226,228,228,226],2.622,[230,226,249,839,228,226,228,228,226],0.03,[233,226,249,841,228,226,228,228,226],0.028,[236,226,249,843,228,226,228,228,226],0.029,[239,226,249,845,228,226,228,228,226],0.952,[242,226,249,771,228,226,228,228,226],[246,226,249,848,228,226,228,228,226],0.035,[226,226,252,850,228,226,228,228,226],4.621,[230,226,252,841,228,226,228,228,226],[233,226,252,764,228,226,228,228,226],[236,226,252,854,228,226,228,228,226],0.018,[239,226,252,130,226,226,228,228,226],[242,226,252,755,228,226,228,228,226],[246,226,252,758,228,226,228,228,226],[226,226,261,859,228,226,228,228,226],7.951,[230,226,261,861,228,226,228,228,226],0.025,[233,226,261,764,228,226,228,228,226],[236,226,261,768,228,226,228,228,226],[239,226,261,865,228,226,228,228,226],8.682,[242,226,261,758,228,226,228,228,226],[246,226,261,868,228,226,228,228,226],0.023,[226,226,264,870,228,226,228,228,226],7.912,[230,226,264,872,228,226,228,228,226],0.041,[233,226,264,874,228,226,228,228,226],0.083,[236,226,264,876,228,226,228,228,226],0.046,[239,226,264,130,226,226,228,228,226],[242,226,264,879,228,226,228,228,226],0.048,[246,226,264,758,228,226,228,228,226],[226,226,267,882,228,226,228,228,226],6.151,[230,226,267,755,228,226,228,228,226],[233,226,267,885,228,226,228,228,226],0.038,[236,226,267,768,228,226,228,228,226],[239,226,267,130,226,226,228,228,226],[242,226,267,848,228,226,228,228,226],[246,226,267,786,228,226,228,228,226],[226,226,269,891,228,226,228,228,226],9.032,[230,226,269,893,228,226,228,228,226],0.11,[233,226,269,895,228,226,228,228,226],0.17,[236,226,269,893,228,226,228,228,226],[239,226,269,898,228,226,228,228,226],3.584,[242,226,269,900,228,226,228,228,226],0.152,[246,226,269,854,228,226,228,228,226],[226,226,272,903,228,226,228,228,226],19.952,[230,226,272,905,228,226,228,228,226],0.162,[233,226,272,627,228,226,228,228,226],[236,226,272,908,228,226,228,228,226],0.462,[239,226,272,130,226,226,228,228,226],[242,226,272,911,228,226,228,228,226],0.356,[246,226,272,913,228,226,228,228,226],0.032,[226,226,275,915,228,226,228,228,226],16.781,[230,226,275,810,228,226,228,228,226],[233,226,275,841,228,226,228,228,226],[236,226,275,848,228,226,228,228,226],[239,226,275,920,228,226,228,228,226],0.563,[242,226,275,764,228,226,228,228,226],[246,226,275,923,228,226,228,228,226],0.026,[226,226,278,925,228,226,228,228,226],15.012,[230,226,278,927,228,226,228,228,226],0.051,[233,226,278,929,228,226,228,228,226],0.04,[236,226,278,931,228,226,228,228,226],0.059,[239,226,278,130,226,226,228,228,226],[242,226,278,934,228,226,228,228,226],0.053,[246,226,278,876,228,226,228,228,226],[226,230,282,937,228,230,228,228,230],7.416,[230,230,282,939,228,230,228,228,230],0.097,[233,230,282,941,228,230,228,228,230],0.151,[236,230,282,943,228,230,228,228,230],0.278,[239,230,282,945,228,230,228,228,230],1.928,[242,230,282,947,228,230,228,228,230],0.137,[249,230,282,927,228,230,228,228,230],[252,230,282,766,228,230,228,228,230],[261,230,282,951,228,230,228,228,230],0.089,[246,230,282,953,228,230,228,228,230],0.045,[955],"failed (system totally failed, marked x)",[670,957],"Table II (Average row); text Sec. IX-B states 0.044 m for Ours",[],[],[961,962],"Absolute translational error RMSE on Hilti'22 and Hilti'23 (handheld: PandarXT-32, BMI085; robot: BPearl, MTi-670; front camera), scored through the official Hilti website because ground truth (MoCap or total station) is not public; loop closure of LVI-SAM removed; ablation columns kept only in the Average row; NTU-VIRAL rows omitted for the row cap","Absolute translational error RMSE on Hilti'22 and Hilti'23 (handheld: PandarXT-32, BMI085; robot: BPearl, MTi-670; front camera), scored through the official Hilti website because ground truth (MoCap or total station) is not public; loop closure of LVI-SAM removed; ablation columns kept only in the Average row; NTU-VIRAL rows omitted for the row cap; Average over all 25 sequences (NTU-VIRAL, Hilti'22, Hilti'23; how failed runs enter the average is not stated)",{"slug":964,"group":965,"sourceId":966,"sourceLabel":967,"table":968,"selfRows":289,"metrics":969,"seqs":974,"entrants":995,"cells":1004,"outcomes":1134,"locators":1136,"hardware":1137,"wordings":1138,"notes":1139},"fastlivo2rc2025-table-i","fastlivo2rc2025:Table I","fastlivo2rc2025","Zhou et al., 2025","Table I",[970,972],{"label":971,"unit":151,"statistic":539,"alignment":93},"ATE (RMSE)",{"label":973,"unit":151,"statistic":539,"alignment":93},"ATE (RMSE), Average",[975,976,977,978,979,980,981,982,983,984,985,986,987,988,989,990,991],{"dataset":678,"sequence":679,"environment":680},{"dataset":678,"sequence":682,"environment":680},{"dataset":678,"sequence":684,"environment":685},{"dataset":678,"sequence":687,"environment":688},{"dataset":678,"sequence":690,"environment":691},{"dataset":678,"sequence":693,"environment":694},{"dataset":678,"sequence":696,"environment":697},{"dataset":678,"sequence":699,"environment":700},{"dataset":702,"sequence":703,"environment":704},{"dataset":702,"sequence":706,"environment":704},{"dataset":702,"sequence":708,"environment":704},{"dataset":702,"sequence":710,"environment":711},{"dataset":702,"sequence":713,"environment":714},{"dataset":702,"sequence":716,"environment":717},{"dataset":702,"sequence":719,"environment":720},{"dataset":702,"sequence":722,"environment":723},{"dataset":992,"sequence":993,"environment":994},"Hilti'22 and Hilti'23","Average (16 sequences)","construction sites, offices, basements",[996,997,999,1000,1001,1002,1003],{"name":740,"methodId":966,"linkable":210,"proposed":210,"self":78},{"name":998,"methodId":668,"linkable":210,"proposed":78,"self":78},"FAST-LIVO2",{"name":734,"methodId":220,"linkable":210,"proposed":78,"self":78},{"name":7,"methodId":5,"linkable":210,"proposed":78,"self":210},{"name":736,"methodId":563,"linkable":210,"proposed":78,"self":78},{"name":730,"methodId":130,"linkable":78,"proposed":78,"self":78},{"name":215,"methodId":216,"linkable":210,"proposed":78,"self":78},[1005,1006,1007,1008,1009,1010,1011,1012,1013,1014,1015,1016,1017,1018,1019,1020,1021,1022,1023,1024,1025,1026,1028,1029,1030,1031,1032,1033,1034,1035,1036,1037,1038,1039,1040,1041,1042,1043,1044,1045,1046,1047,1048,1049,1050,1051,1052,1053,1054,1055,1056,1057,1058,1059,1060,1061,1062,1063,1064,1065,1066,1067,1068,1069,1070,1071,1072,1073,1074,1075,1076,1077,1078,1079,1080,1081,1082,1083,1084,1085,1086,1087,1088,1089,1090,1092,1093,1094,1095,1096,1097,1098,1100,1101,1102,1103,1104,1105,1106,1107,1108,1109,1110,1111,1112,1113,1114,1115,1116,1117,1118,1119,1120,1122,1124,1126,1128,1130,1132],[226,226,226,760,228,226,228,228,226],[230,226,226,760,228,226,228,228,226],[233,226,226,753,228,226,228,228,226],[236,226,226,758,228,226,228,228,226],[239,226,226,755,228,226,228,228,226],[242,226,226,749,228,226,228,228,226],[246,226,226,130,226,226,228,228,226],[226,226,230,868,228,226,228,228,226],[230,226,230,773,228,226,228,228,226],[233,226,230,766,228,226,228,228,226],[236,226,230,771,228,226,228,228,226],[239,226,230,768,228,226,228,228,226],[242,226,230,762,228,226,228,228,226],[246,226,230,130,226,226,228,228,226],[226,226,233,895,228,226,228,228,226],[230,226,233,786,228,226,228,228,226],[233,226,233,627,228,226,228,228,226],[236,226,233,784,228,226,228,228,226],[239,226,233,780,228,226,228,228,226],[242,226,233,775,228,226,228,228,226],[246,226,233,782,228,226,228,228,226],[226,226,236,1027,228,226,228,228,226],0.054,[230,226,236,799,228,226,228,228,226],[233,226,236,792,228,226,228,228,226],[236,226,236,797,228,226,228,228,226],[239,226,236,790,228,226,228,228,226],[242,226,236,788,228,226,228,228,226],[246,226,236,795,228,226,228,228,226],[226,226,239,604,228,226,228,228,226],[230,226,239,810,228,226,228,228,226],[233,226,239,647,228,226,228,228,226],[236,226,239,808,228,226,228,228,226],[239,226,239,805,228,226,228,228,226],[242,226,239,801,228,226,228,228,226],[246,226,239,130,226,226,228,228,226],[226,226,242,854,228,226,228,228,226],[230,226,242,822,228,226,228,228,226],[233,226,242,768,228,226,228,228,226],[236,226,242,758,228,226,228,228,226],[239,226,242,817,228,226,228,228,226],[242,226,242,812,228,226,228,228,226],[246,226,242,819,228,226,228,228,226],[226,226,246,590,228,226,228,228,226],[230,226,246,835,228,226,228,228,226],[233,226,246,828,228,226,228,228,226],[236,226,246,833,228,226,228,228,226],[239,226,246,830,228,226,228,228,226],[242,226,246,824,228,226,228,228,226],[246,226,246,130,226,226,228,228,226],[226,226,249,872,228,226,228,228,226],[230,226,249,848,228,226,228,228,226],[233,226,249,841,228,226,228,228,226],[236,226,249,771,228,226,228,228,226],[239,226,249,843,228,226,228,228,226],[242,226,249,837,228,226,228,228,226],[246,226,249,845,228,226,228,228,226],[226,226,252,913,228,226,228,228,226],[230,226,252,755,228,226,228,228,226],[233,226,252,764,228,226,228,228,226],[236,226,252,758,228,226,228,228,226],[239,226,252,768,228,226,228,228,226],[242,226,252,850,228,226,228,228,226],[246,226,252,130,226,226,228,228,226],[226,226,261,854,228,226,228,228,226],[230,226,261,868,228,226,228,228,226],[233,226,261,764,228,226,228,228,226],[236,226,261,758,228,226,228,228,226],[239,226,261,768,228,226,228,228,226],[242,226,261,859,228,226,228,228,226],[246,226,261,865,228,226,228,228,226],[226,226,264,885,228,226,228,228,226],[230,226,264,758,228,226,228,228,226],[233,226,264,874,228,226,228,228,226],[236,226,264,879,228,226,228,228,226],[239,226,264,876,228,226,228,228,226],[242,226,264,870,228,226,228,228,226],[246,226,264,130,226,226,228,228,226],[226,226,267,768,228,226,228,228,226],[230,226,267,786,228,226,228,228,226],[233,226,267,885,228,226,228,228,226],[236,226,267,848,228,226,228,228,226],[239,226,267,768,228,226,228,228,226],[242,226,267,882,228,226,228,228,226],[246,226,267,130,226,226,228,228,226],[226,226,269,1091,228,226,228,228,226],0.012,[230,226,269,854,228,226,228,228,226],[233,226,269,895,228,226,228,228,226],[236,226,269,900,228,226,228,228,226],[239,226,269,893,228,226,228,228,226],[242,226,269,891,228,226,228,228,226],[246,226,269,898,228,226,228,228,226],[226,226,272,1099,228,226,228,228,226],0.095,[230,226,272,913,228,226,228,228,226],[233,226,272,627,228,226,228,228,226],[236,226,272,911,228,226,228,228,226],[239,226,272,908,228,226,228,228,226],[242,226,272,903,228,226,228,228,226],[246,226,272,130,226,226,228,228,226],[226,226,275,841,228,226,228,228,226],[230,226,275,923,228,226,228,228,226],[233,226,275,841,228,226,228,228,226],[236,226,275,764,228,226,228,228,226],[239,226,275,848,228,226,228,228,226],[242,226,275,915,228,226,228,228,226],[246,226,275,920,228,226,228,228,226],[226,226,278,766,228,226,228,228,226],[230,226,278,876,228,226,228,228,226],[233,226,278,929,228,226,228,228,226],[236,226,278,934,228,226,228,228,226],[239,226,278,931,228,226,228,228,226],[242,226,278,925,228,226,228,228,226],[246,226,278,130,226,226,228,228,226],[226,230,282,1121,228,226,228,228,230],0.063,[230,230,282,1123,228,226,228,228,230],0.034,[233,230,282,1125,228,226,228,228,230],0.138,[236,230,282,1127,228,226,228,228,230],0.123,[239,230,282,1129,228,226,228,228,230],0.391,[242,230,282,1131,228,226,228,228,230],11.347,[246,230,282,1133,228,226,228,228,230],4.502,[1135],"failed (x)",[968],[],[],[1140,1141],"ATE RMSE on 16 Hilti'22 and Hilti'23 sequences computed with the official Hilti evaluation tools; parameters of all methods tuned by the authors; x = system totally failed","ATE RMSE on 16 Hilti'22 and Hilti'23 sequences computed with the official Hilti evaluation tools; parameters of all methods tuned by the authors; x = system totally failed; Average row over the 16 sequences (handling of failures not stated)",[1143,1150,1155,1162,1166,1170,1177,1182,1188,1196,1201,1206,1212,1217,1222,1229],{"group":1144,"slug":1145,"sourceLabel":1146,"table":1147,"selfRows":278,"datasets":1148},"chen2025geode:Table 5","chen2025geode-table-5","Chen et al., 2025b","Table 5",[1149],"GEODE",{"group":1151,"slug":1152,"sourceLabel":6,"table":146,"selfRows":275,"datasets":1153},"fastlivo2022:Table III","fastlivo2022-table-iii",[1154],"private datasets",{"group":1156,"slug":1157,"sourceLabel":1158,"table":146,"selfRows":264,"datasets":1159},"cocolic2023:Table III","cocolic2023-table-iii","Lang et al., 2023",[1160,1161],"FAST-LIVO dataset","R3LIVE dataset",{"group":1163,"slug":1164,"sourceLabel":6,"table":670,"selfRows":261,"datasets":1165},"fastlivo2022:Table II","fastlivo2022-table-ii",[87],{"group":1167,"slug":1168,"sourceLabel":535,"table":968,"selfRows":261,"datasets":1169},"srlivo2024:Table I","srlivo2024-table-i",[87],{"group":1171,"slug":1172,"sourceLabel":1173,"table":1174,"selfRows":246,"datasets":1175},"li2026tunneldt:Text Sec.3.1","li2026tunneldt-text-sec-3-1","Li et al., 2026b","Text Sec.3.1",[1176],"authors' tunnel dataset (~300 m)",{"group":1178,"slug":1179,"sourceLabel":669,"table":146,"selfRows":239,"datasets":1180},"fastlivo2_2025:Table III","fastlivo2-2025-table-iii",[678,1181],"Hilti'22, Hilti'23, NTU-VIRAL, FAST-LIVO2 private",{"group":1183,"slug":1184,"sourceLabel":1158,"table":1185,"selfRows":236,"datasets":1186},"cocolic2023:Table IV","cocolic2023-table-iv","Table IV",[1187],"UrbanNav",{"group":1189,"slug":1190,"sourceLabel":1191,"table":1192,"selfRows":233,"datasets":1193},"okvis2x2025:Table IX","okvis2x2025-table-ix","Boche et al., 2025","Table IX",[1194,1195],"Hilti-Oxford","VBR",{"group":1197,"slug":1198,"sourceLabel":1191,"table":1199,"selfRows":233,"datasets":1200},"okvis2x2025:Table VI","okvis2x2025-table-vi","Table VI",[1195],{"group":1202,"slug":1203,"sourceLabel":1146,"table":1204,"selfRows":230,"datasets":1205},"chen2025geode:Text Sec.5.2","chen2025geode-text-sec-5-2","Text Sec.5.2",[1149],{"group":1207,"slug":1208,"sourceLabel":6,"table":1209,"selfRows":230,"datasets":1210},"fastlivo2022:Text Sec.VI-B2","fastlivo2022-text-sec-vi-b2","Text Sec.VI-B2",[1211],"private dataset",{"group":1213,"slug":1214,"sourceLabel":6,"table":1215,"selfRows":230,"datasets":1216},"fastlivo2022:Text Sec.VI-B3","fastlivo2022-text-sec-vi-b3","Text Sec.VI-B3",[1211],{"group":1218,"slug":1219,"sourceLabel":6,"table":1220,"selfRows":230,"datasets":1221},"fastlivo2022:Text Sec.VI-C","fastlivo2022-text-sec-vi-c","Text Sec.VI-C",[1154],{"group":1223,"slug":1224,"sourceLabel":1225,"table":1226,"selfRows":230,"datasets":1227},"ghadimzadeh2025slamnde:Table 3","ghadimzadeh2025slamnde-table-3","Ghadimzadeh Alamdari et al., 2025","Table 3",[1228],"Luleå SubT tunnel dataset (Koval et al. 2022)",{"group":1230,"slug":1231,"sourceLabel":1232,"table":1233,"selfRows":230,"datasets":1234},"glim2024:Table X","glim2024-table-x","Koide et al., 2024","Table X",[1235],"NTU VIRAL",1790510662280]