[{"data":1,"prerenderedAt":1247},["ShallowReactive",2],{"method-fastlivo2_2025":3},{"method":4,"reference":63,"equipment":95,"figures":186,"results":187},{"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":24,"limitations":28,"sensors":31,"platform":35,"estimator":39,"association":40,"timeModel":41,"deskew":42,"loopClosure":43,"globalOptimization":44,"mapRepresentation":45,"prior":46,"outputGeometry":47,"compute":48,"codeUrl":49,"codeLicense":50,"relatedVersions":51},"fastlivo2_2025","Zheng et al., 2025","FAST-LIVO2","FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry",2025,"recent","C07","odometry_with_local_mapping","FAST-LIVO2 以序列式更新的 ESIKF 先融合光達、再融合影像，解決兩種量測維度不匹配的問題；光達與視覺模組共用一個自適應體素（voxel）地圖，光達點同時作為視覺地圖點並附掛影像區塊。影像對齊利用光達平面先驗、動態更新參考區塊、按需射線投射（raycasting）處理近距盲區，並即時估計曝光時間。作者在 NTU-VIRAL 與 Hilti（含工地序列）等 25 個公開序列評估軌跡精度，並展示高精度彩色點雲、網格、貼圖與 3DGS 應用。","A direct LIVO with a sequentially updated ESIKF over a single adaptive voxel map, using LiDAR plane priors, reference-patch updates, raycasting and exposure estimation to obtain pixel-level alignment and dense colored point maps.","full_text_reviewed","peer_reviewed_published","main_body","作者以 Hilti 2022 與 2023 公開資料集評估軌跡精度，論文描述其場景含營建工地、辦公室、地下室與樓梯，參考軌跡由動作捕捉或全測站取得且不公開，需經 Hilti 官方網站評分。Hilti 2022 三個工地序列 Construction Ground、Construction Multilevel、Construction Stairs 的 RMSE 分別為 0.010、0.020、0.016 m。私人資料含礦坑隧道序列，僅報告回到起點誤差小於 0.01 m。證據屬軌跡層級，未報告工地點雲的幾何精度。",[20,21,22,23],"public_benchmark","real_construction_site","underground_or_tunnel","independent_reference",[25,26,27],"Average RMSE of about 0.044-0.045 m over 25 NTU-VIRAL and Hilti 2022\u002F2023 sequences (text 0.044 m; default Table II row 0.045 m), versus 0.137 m for FAST-LIVO in the same table (Sec. IX-B, Table II)","End-to-end error below 0.01 m on several private degenerate sequences including a dim mining tunnel (Sec. IX-C)","Colored point maps suitable as inputs for mesh, texture and 3DGS pipelines (Sec. X-C)",[29,30],"Odometry only","may drift over long distances without loop closure (Sec. XI) | Pixel-level accuracy requires hardware synchronization and rigorous extrinsic pre-calibration (Sec. I) | Slightly worse than FAST-LIO2 on dark, blurred sequences where images add no information (Sec. IX-B) | Normal refinement helps only in simple structured scenes with good images and degrades dim, blurry NTU-VIRAL sequences, so it is off by default (Sec. IX-B) | Denser colored points increase 3DGS training time from 10 min 59 s to 15 min 30 s compared with COLMAP input (Sec. X-C)",[32,33,34],"3D LiDAR (Livox Avia, Ouster OS1-16, Hesai PandarXT-32, Robosense BPearl across datasets)","IMU","camera (pinhole or fisheye)",[36,37,38],"handheld","UAV","ground robot (Hilti robot-mounted sequences; type not_verified)","error-state iterated Kalman filter with sequential update (LiDAR update first, then image update)","raw LiDAR points, frame-to-map point-to-plane with per-point noise including beam divergence; sparse-direct patch photometric alignment using LiDAR plane priors, dynamic reference-patch update, on-demand voxel raycasting, outlier rejection","discrete poses; LiDAR points recombined into scans at camera sampling times; online exposure-time estimation","scan recombination with forward and backward IMU propagation (Fig. 3)","none; authors note possible long-distance drift and list loop closure as future work (Sec. XI)","none","Adaptive voxel map adapted from VoxelMap: hash table of 0.5 m root voxels, each an octree (max 3 layers) of plane leaf voxels with plane center, normal and covariance; mature planes stop accepting points; selected points carry 3-level patch pyramids (visual map points); local map of side L slid as a ring buffer when the detection sphere touches the boundary","hardware time synchronization and pre-calibrated extrinsics required (Sec. I)","dense colored point map in real time; downstream TSDF mesh (VDBFusion), OpenMVS texture mapping and 3DGS initialization demonstrated (Sec. X-C)","Desktop Intel i7-10700K with 32 GB RAM: average 30.03 ms per LiDAR and image frame (17.13 ms LiDAR, 12.90 ms image) over all benchmark and private sequences; ARM RB5 (Qualcomm Kryo585, 8 GB): 78.44 ms average; onboard NUC i7-1360P during UAV flights about 53.47 ms while planning and MPC also run; MARS-LVIG airborne sequences about 25.2 ms and 21.8 ms","https:\u002F\u002Fgithub.com\u002Fhku-mars\u002FFAST-LIVO2","GPL-2.0 (LICENSE file checked)",[52,56,60],{"relation":53,"title":54,"doi_or_url":55},"preprint","FAST-LIVO2 arXiv v1 2024-08-26, v2 2024-08-28","https:\u002F\u002Farxiv.org\u002Fabs\u002F2408.14035",{"relation":57,"title":58,"doi_or_url":59},"conference_version","FAST-LIVO (IROS 2022), predecessor","10.1109\u002FIROS47612.2022.9981107",{"relation":61,"title":62,"doi_or_url":49},"code_release","hku-mars\u002FFAST-LIVO2",{"id":5,"kind":64,"shortName":7,"title":65,"authors":66,"year":9,"venue":81,"venueType":82,"publisher":83,"volumeIssuePages":84,"doi":85,"arxivId":86,"url":55,"firstPublicDate":87,"publicationStatus":16,"metadataStatus":88,"fulltextStatus":15,"era":10,"classicReason":89,"codeUrl":49,"cluster":11,"topics":90,"mdpi":91,"verification":92,"label":6,"fulltextRoute":93,"versionRead":94,"addedByCensus":91},"method","FAST-LIVO2: Fast, Direct LiDAR–Inertial–Visual Odometry",[67,68,69,70,71,72,73,74,75,76,77,78,79,80],"Chunran Zheng","Wei Xu","Zuhao Zou","Tong Hua","Chongjian Yuan","Dongjiao He","Bingyang Zhou","Zheng Liu","Jiarong Lin","Fangcheng Zhu","Yunfan Ren","Rong Wang","Fanle Meng","Fu Zhang","IEEE Transactions on Robotics","journal","IEEE","41: 326-346","10.1109\u002Ftro.2024.3502198","2408.14035","2024-08-26","metadata_verified","not_applicable",[11],false,"corrected","arXiv","arXiv 2408.14035v2 HTML (2024-08-28), all main sections I to XI; IEEE T-RO version of record (Xplore document 10757429) HTML text spot-checked for Sec. VIII-A, IX-A, IX-B, IX-E, X-A2, X-B, X-C and XI with matching numbers; T-RO table images returned HTTP 403, so tables are from arXiv v2; Supplementary Material not read",[96,103,107,111,115,118,122,127,130,133,139,142,146,149,152,158,160,166,169,173,179,182],{"category":97,"model":98,"canonical":98,"role":99,"dataset":100,"specs":101,"locator":102},"lidar","16-channel OS1 gen1","dataset sensor","NTU-VIRAL","10 Hz; built-in IMU at 100 Hz","Sec. VIII-A",{"category":104,"model":105,"canonical":105,"role":99,"dataset":100,"specs":106,"locator":102},"camera","two synchronized pinhole cameras (left used)","triggered at 10 Hz; 752x480 grayscale",{"category":108,"model":109,"canonical":109,"role":99,"dataset":100,"specs":110,"locator":102},"platform","aerial platform","UAV campus flights",{"category":97,"model":112,"canonical":112,"role":99,"dataset":113,"specs":114,"locator":102},"Hesai PandarXT-32","Hilti'22 and Hilti'23 (handheld)","10 Hz (handheld sequences)",{"category":104,"model":116,"canonical":116,"role":99,"dataset":113,"specs":117,"locator":102},"five wide-angle cameras (front-facing used)","40 Hz downsampled to 10 Hz; 752x480 grayscale",{"category":119,"model":120,"canonical":120,"role":99,"dataset":113,"specs":121,"locator":102},"imu","Bosch BMI085","external IMU at 400 Hz",{"category":97,"model":123,"canonical":124,"role":99,"dataset":125,"specs":126,"locator":102},"Robosense BPearl","Robosense Bpearl","Hilti (robot-mounted)","10 Hz (robot-mounted sequences)",{"category":104,"model":128,"canonical":128,"role":99,"dataset":125,"specs":129,"locator":102},"eight omnidirectional cameras (front-facing used)","10 Hz",{"category":119,"model":131,"canonical":131,"role":99,"dataset":125,"specs":132,"locator":102},"Xsens MTi-670","200 Hz",{"category":134,"model":135,"canonical":135,"role":136,"dataset":137,"specs":138,"locator":102},"other","motion capture system (MoCap)","reference or ground truth","Hilti'22 and Hilti'23","millimeter-accurate ground truth; not public, scored online",{"category":140,"model":141,"canonical":141,"role":136,"dataset":137,"specs":138,"locator":102},"total_station","Total Station",{"category":108,"model":143,"canonical":143,"role":99,"dataset":144,"specs":145,"locator":102},"DJI M300 RTK quadrotor","MARS-LVIG","high-altitude aerial data collection",{"category":97,"model":147,"canonical":147,"role":99,"dataset":144,"specs":148,"locator":102},"Livox Avia","with built-in BMI088 IMU; triggered at 10 Hz",{"category":104,"model":150,"canonical":150,"role":99,"dataset":144,"specs":151,"locator":102},"high-resolution global-shutter camera","2448x2048 RGB, triggered at 10 Hz",{"category":104,"model":153,"canonical":153,"role":154,"dataset":155,"specs":156,"locator":157},"MV-CA013-21UC","method input","FAST-LIVO2 private dataset","industrial camera, FoV 70.6 x 68.5 deg; fixed exposure with auto gain in most sequences","Sec. VIII-B1; Fig. 9",{"category":97,"model":147,"canonical":147,"role":154,"dataset":155,"specs":159,"locator":157},"FoV 70.4 x 77.2 deg",{"category":161,"model":162,"canonical":163,"role":99,"dataset":155,"specs":164,"locator":165},"compute","DJI manifold-2c","DJI Manifold 2C","onboard computer; Intel i7-8550u CPU, 8 GB RAM","Sec. VIII-B1",{"category":134,"model":167,"canonical":167,"role":99,"dataset":155,"specs":168,"locator":157},"STM32 synchronized timers","10 Hz hardware trigger for all sensors",{"category":108,"model":170,"canonical":170,"role":154,"dataset":155,"specs":171,"locator":172},"handheld platform","handheld data-collection device (Fig. 9a)","Fig. 9",{"category":161,"model":174,"canonical":174,"role":175,"dataset":176,"specs":177,"locator":178},"desktop PC with Intel i7-10700K CPU","compute for runtime",null,"32 GB RAM","Sec. IX-A",{"category":161,"model":180,"canonical":180,"role":175,"dataset":176,"specs":181,"locator":178},"RB5 (ARM) with Qualcomm Kryo585 CPU","8 GB RAM",{"category":161,"model":183,"canonical":183,"role":175,"dataset":176,"specs":184,"locator":185},"NUC with Intel i7-1360P CPU","32 GB RAM; UAV onboard computer","Sec. X-A1",[],{"totalRows":188,"groupCount":189,"groups":190,"others":1204},103,12,[191,532,828,1006],{"slug":192,"group":193,"sourceId":194,"sourceLabel":195,"table":196,"selfRows":197,"metrics":198,"seqs":204,"entrants":249,"cells":264,"outcomes":525,"locators":527,"hardware":528,"wordings":529,"notes":530},"palvio2026-table-ii","palvio2026:Table II","palvio2026","Tang et al., 2026","Table II",21,[199],{"label":200,"unit":201,"statistic":202,"alignment":203},"absolute translation error (RMSE, meters)","m","RMSE","not_reported",[205,209,211,213,215,217,219,221,223,225,227,229,232,234,236,238,240,242,244,246,248],{"dataset":206,"sequence":207,"environment":208},"i2Nav-Robot","building00","low-speed wheeled robot; building, parking, playground and street sequences (indoor-outdoor)",{"dataset":206,"sequence":210,"environment":208},"building01",{"dataset":206,"sequence":212,"environment":208},"building02",{"dataset":206,"sequence":214,"environment":208},"parking00",{"dataset":206,"sequence":216,"environment":208},"parking01",{"dataset":206,"sequence":218,"environment":208},"parking02",{"dataset":206,"sequence":220,"environment":208},"playground00",{"dataset":206,"sequence":222,"environment":208},"street00",{"dataset":206,"sequence":224,"environment":208},"street01",{"dataset":206,"sequence":226,"environment":208},"street02",{"dataset":206,"sequence":228,"environment":208},"Average",{"dataset":144,"sequence":230,"environment":231},"AMtown01","UAV at 3 to 12 m\u002Fs, cruising altitude 80 m (AMtown, HKairport) to 130 m (AMvalley)",{"dataset":144,"sequence":233,"environment":231},"AMtown02",{"dataset":144,"sequence":235,"environment":231},"AMtown03",{"dataset":144,"sequence":237,"environment":231},"AMvalley01",{"dataset":144,"sequence":239,"environment":231},"AMvalley02",{"dataset":144,"sequence":241,"environment":231},"AMvalley03",{"dataset":144,"sequence":243,"environment":231},"HKairport01",{"dataset":144,"sequence":245,"environment":231},"HKairport02",{"dataset":144,"sequence":247,"environment":231},"HKairport03",{"dataset":144,"sequence":228,"environment":231},[250,252,256,258,261,262],{"name":251,"methodId":176,"linkable":91,"proposed":91,"self":91},"FF-LINS",{"name":253,"methodId":254,"linkable":255,"proposed":91,"self":91},"FAST-LIO2","fastlio2_2022",true,{"name":257,"methodId":176,"linkable":91,"proposed":91,"self":91},"LE-VINS",{"name":259,"methodId":260,"linkable":255,"proposed":91,"self":91},"R3LIVE","r3live2022",{"name":7,"methodId":5,"linkable":255,"proposed":91,"self":255},{"name":263,"methodId":194,"linkable":255,"proposed":255,"self":91},"Ours (PA-LVIO)",[265,269,272,275,277,280,283,285,287,289,290,292,294,296,298,300,302,304,306,308,310,312,314,316,318,320,322,324,326,327,329,331,332,334,336,338,339,342,344,346,348,350,352,355,357,359,361,363,364,367,369,370,372,374,376,379,381,383,385,387,389,392,394,396,398,399,401,404,406,408,410,412,414,416,417,419,421,423,425,428,430,432,434,436,438,441,443,445,447,449,451,454,456,458,460,462,464,467,469,471,473,475,477,480,482,484,486,488,489,492,494,496,498,500,502,505,507,509,511,512,513,516,518,520,522,524],[266,266,266,267,268,266,268,268,266],0,2.32,-1,[270,266,266,271,268,266,268,268,266],1,0.68,[273,266,266,274,268,266,268,268,266],2,1.17,[276,266,266,176,266,266,268,268,266],3,[278,266,266,279,268,266,268,268,266],4,1.1,[281,266,266,282,268,266,268,268,266],5,0.34,[266,266,270,284,268,266,268,268,266],1.16,[270,266,270,286,268,266,268,268,266],0.38,[273,266,270,288,268,266,268,268,266],1.01,[276,266,270,176,266,266,268,268,266],[278,266,270,291,268,266,268,268,266],0.19,[281,266,270,293,268,266,268,268,266],0.17,[266,266,273,295,268,266,268,268,266],6.73,[270,266,273,297,268,266,268,268,266],1.46,[273,266,273,299,268,266,268,268,266],2.35,[276,266,273,301,268,266,268,268,266],4.49,[278,266,273,303,268,266,268,268,266],1.65,[281,266,273,305,268,266,268,268,266],0.47,[266,266,276,307,268,266,268,268,266],1.94,[270,266,276,309,268,266,268,268,266],0.25,[273,266,276,311,268,266,268,268,266],0.98,[276,266,276,313,268,266,268,268,266],0.59,[278,266,276,315,268,266,268,268,266],0.26,[281,266,276,317,268,266,268,268,266],0.11,[266,266,278,319,268,266,268,268,266],1.06,[270,266,278,321,268,266,268,268,266],0.44,[273,266,278,323,268,266,268,268,266],0.69,[276,266,278,325,268,266,268,268,266],0.39,[278,266,278,293,268,266,268,268,266],[281,266,278,328,268,266,268,268,266],0.14,[266,266,281,330,268,266,268,268,266],1.31,[270,266,281,297,268,266,268,268,266],[273,266,281,333,268,266,268,268,266],0.79,[276,266,281,335,268,266,268,268,266],0.66,[278,266,281,337,268,266,268,268,266],0.18,[281,266,281,317,268,266,268,268,266],[266,266,340,341,268,266,268,268,266],6,1.71,[270,266,340,343,268,266,268,268,266],0.31,[273,266,340,345,268,266,268,268,266],1.34,[276,266,340,347,268,266,268,268,266],0.62,[278,266,340,349,268,266,268,268,266],0.53,[281,266,340,351,268,266,268,268,266],0.3,[266,266,353,354,268,266,268,268,266],7,3.32,[270,266,353,356,268,266,268,268,266],1.86,[273,266,353,358,268,266,268,268,266],1.18,[276,266,353,360,268,266,268,268,266],1.61,[278,266,353,362,268,266,268,268,266],1.12,[281,266,353,305,268,266,268,268,266],[266,266,365,366,268,266,268,268,266],8,4.2,[270,266,365,368,268,266,268,268,266],1.28,[273,266,365,303,268,266,268,268,266],[276,266,365,371,268,266,268,268,266],2.36,[278,266,365,373,268,266,268,268,266],2.45,[281,266,365,375,268,266,268,268,266],0.91,[266,266,377,378,268,266,268,268,266],9,3.78,[270,266,377,380,268,266,268,268,266],1.49,[273,266,377,382,268,266,268,268,266],2.16,[276,266,377,384,268,266,268,268,266],1.4,[278,266,377,386,268,266,268,268,266],2.92,[281,266,377,388,268,266,268,268,266],1.15,[266,266,390,391,268,266,268,268,266],10,2.75,[270,266,390,393,268,266,268,268,266],0.96,[273,266,390,395,268,266,268,268,266],1.33,[276,266,390,397,268,266,268,268,266],1.51,[278,266,390,319,268,266,268,268,266],[281,266,390,400,268,266,268,268,266],0.54,[266,266,402,403,268,266,268,268,266],11,3.35,[270,266,402,405,268,266,268,268,266],2.99,[273,266,402,407,268,266,268,268,266],13.72,[276,266,402,409,268,266,268,268,266],1.67,[278,266,402,411,268,266,268,268,266],2.57,[281,266,402,413,268,266,268,268,266],3.05,[266,266,189,415,268,266,268,268,266],4.67,[270,266,189,403,268,266,268,268,266],[273,266,189,418,268,266,268,268,266],11.32,[276,266,189,420,268,266,268,268,266],2.24,[278,266,189,422,268,266,268,268,266],2.82,[281,266,189,424,268,266,268,268,266],2.67,[266,266,426,427,268,266,268,268,266],13,2.53,[270,266,426,429,268,266,268,268,266],3.54,[273,266,426,431,268,266,268,268,266],31.23,[276,266,426,433,268,266,268,268,266],3.7,[278,266,426,435,268,266,268,268,266],3.25,[281,266,426,437,268,266,268,268,266],1.56,[266,266,439,440,268,266,268,268,266],14,1.77,[270,266,439,442,268,266,268,268,266],6.72,[273,266,439,444,268,266,268,268,266],12.92,[276,266,439,446,268,266,268,268,266],3.91,[278,266,439,448,268,266,268,268,266],7.78,[281,266,439,450,268,266,268,268,266],2.05,[266,266,452,453,268,266,268,268,266],15,2.15,[270,266,452,455,268,266,268,268,266],7.75,[273,266,452,457,268,266,268,268,266],12.74,[276,266,452,459,268,266,268,268,266],3.98,[278,266,452,461,268,266,268,268,266],3.55,[281,266,452,463,268,266,268,268,266],2.01,[266,266,465,466,268,266,268,268,266],16,3.62,[270,266,465,468,268,266,268,268,266],11.98,[273,266,465,470,268,266,268,268,266],18.88,[276,266,465,472,268,266,268,268,266],3.95,[278,266,465,474,268,266,268,268,266],1.43,[281,266,465,476,268,266,268,268,266],2.77,[266,266,478,479,268,266,268,268,266],17,0.5,[270,266,478,481,268,266,268,268,266],0.42,[273,266,478,483,268,266,268,268,266],5.41,[276,266,478,485,268,266,268,268,266],3.26,[278,266,478,487,268,266,268,268,266],0.75,[281,266,478,481,268,266,268,268,266],[266,266,490,491,268,266,268,268,266],18,0.95,[270,266,490,493,268,266,268,268,266],0.67,[273,266,490,495,268,266,268,268,266],4.15,[276,266,490,497,268,266,268,268,266],1.48,[278,266,490,499,268,266,268,268,266],0.88,[281,266,490,501,268,266,268,268,266],0.52,[266,266,503,504,268,266,268,268,266],19,1.39,[270,266,503,506,268,266,268,268,266],0.83,[273,266,503,508,268,266,268,268,266],8.53,[276,266,503,510,268,266,268,268,266],3.65,[278,266,503,362,268,266,268,268,266],[281,266,503,286,268,266,268,268,266],[266,266,514,515,268,266,268,268,266],20,2.33,[270,266,514,517,268,266,268,268,266],4.25,[273,266,514,519,268,266,268,268,266],13.21,[276,266,514,521,268,266,268,268,266],3.09,[278,266,514,523,268,266,268,268,266],2.68,[281,266,514,341,268,266,268,268,266],[526],"failed",[196],[],[],[531],"Absolute translation error (RMSE, m), all systems in real-time mode on the desktop PC; 'x' = system totally failed. Ablation columns (Ours VIO, LIO, w\u002Fo F2M, Marg. F2M, w\u002Fo calib.) omitted here. MARS-LVIG ground truth re-derived by the authors with post-processed RTK\u002FINS; i2Nav-Robot ground-truth source not described in this paper. Average rows printed by the authors.",{"slug":533,"group":534,"sourceId":5,"sourceLabel":6,"table":196,"selfRows":478,"metrics":535,"seqs":540,"entrants":592,"cells":613,"outcomes":819,"locators":821,"hardware":823,"wordings":824,"notes":825},"fastlivo2-2025-table-ii","fastlivo2_2025:Table II",[536,538],{"label":537,"unit":201,"statistic":202,"alignment":203},"absolute translational errors (RMSE)",{"label":539,"unit":201,"statistic":202,"alignment":203},"absolute translational errors (RMSE), Average row",[541,545,547,550,553,556,559,562,565,569,571,573,576,579,582,585,588],{"dataset":542,"sequence":543,"environment":544},"Hilti'22","Construction Ground","construction site",{"dataset":542,"sequence":546,"environment":544},"Construction Multilevel",{"dataset":542,"sequence":548,"environment":549},"Construction Stairs","construction site, stairs",{"dataset":542,"sequence":551,"environment":552},"Long Corridor","long corridor",{"dataset":542,"sequence":554,"environment":555},"Cupola","indoor building (cupola)",{"dataset":542,"sequence":557,"environment":558},"Lower Gallery","indoor building (gallery)",{"dataset":542,"sequence":560,"environment":561},"Attic to Upper Gallery","indoor building (attic and gallery)",{"dataset":542,"sequence":563,"environment":564},"Outside Building","outdoor around building",{"dataset":566,"sequence":567,"environment":568},"Hilti'23","Floor 0","indoor floor",{"dataset":566,"sequence":570,"environment":568},"Floor 1",{"dataset":566,"sequence":572,"environment":568},"Floor 2",{"dataset":566,"sequence":574,"environment":575},"Basement","basement",{"dataset":566,"sequence":577,"environment":578},"Stairs","stairs",{"dataset":566,"sequence":580,"environment":581},"Parking 3x floors down","underground parking",{"dataset":566,"sequence":583,"environment":584},"Large room","large room",{"dataset":566,"sequence":586,"environment":587},"Large room (dark)","large room, dark",{"dataset":589,"sequence":590,"environment":591},"NTU-VIRAL, Hilti'22, Hilti'23","Average (25 sequences)","mixed aerial, construction, indoor and outdoor",[593,595,597,598,599,602,605,607,609,611],{"name":594,"methodId":176,"linkable":91,"proposed":91,"self":91},"SDV-LOAM",{"name":596,"methodId":176,"linkable":91,"proposed":91,"self":91},"Our LIO",{"name":253,"methodId":254,"linkable":255,"proposed":91,"self":91},{"name":259,"methodId":260,"linkable":255,"proposed":91,"self":91},{"name":600,"methodId":601,"linkable":255,"proposed":91,"self":91},"LVI-SAM","lvisam2021",{"name":603,"methodId":604,"linkable":255,"proposed":91,"self":91},"FAST-LIVO","fastlivo2022",{"name":606,"methodId":5,"linkable":255,"proposed":255,"self":255},"Ours",{"name":608,"methodId":176,"linkable":91,"proposed":91,"self":91},"Ours (w\u002Fo expo)",{"name":610,"methodId":176,"linkable":91,"proposed":91,"self":91},"Ours (w normal)",{"name":612,"methodId":176,"linkable":91,"proposed":91,"self":91},"Ours (w\u002Fo update)",[614,616,618,620,622,623,625,627,629,631,633,635,636,638,640,642,644,646,648,650,652,654,656,658,660,661,663,665,667,669,670,671,673,674,676,678,680,682,683,685,687,688,690,692,694,696,698,699,701,703,705,707,709,711,713,714,716,718,719,720,722,723,724,725,727,729,730,731,733,734,736,738,740,742,744,745,747,748,750,751,753,754,755,756,757,759,760,761,762,764,766,767,769,771,772,774,775,777,779,781,782,783,784,786,787,789,791,793,795,797,798,800,801,803,805,807,809,811,813,814,815,817],[266,266,266,615,268,266,268,268,266],25.121,[270,266,266,617,268,266,268,268,266],0.011,[273,266,266,619,268,266,268,268,266],0.013,[276,266,266,621,268,266,268,268,266],0.021,[278,266,266,176,266,266,268,268,266],[281,266,266,624,268,266,268,268,266],0.022,[340,266,266,626,268,266,268,268,266],0.01,[266,266,270,628,268,266,268,268,266],12.561,[270,266,270,630,268,266,268,268,266],0.031,[273,266,270,632,268,266,268,268,266],0.044,[276,266,270,634,268,266,268,268,266],0.024,[278,266,270,176,266,266,268,268,266],[281,266,270,637,268,266,268,268,266],0.052,[340,266,270,639,268,266,268,268,266],0.02,[266,266,273,641,268,266,268,268,266],9.212,[270,266,273,643,268,266,268,268,266],0.221,[273,266,273,645,268,266,268,268,266],0.32,[276,266,273,647,268,266,268,268,266],0.784,[278,266,273,649,268,266,268,268,266],9.142,[281,266,273,651,268,266,268,268,266],0.241,[340,266,273,653,268,266,268,268,266],0.016,[266,266,276,655,268,266,268,268,266],19.531,[270,266,276,657,268,266,268,268,266],0.061,[273,266,276,659,268,266,268,268,266],0.064,[276,266,276,657,268,266,268,268,266],[278,266,276,662,268,266,268,268,266],6.312,[281,266,276,664,268,266,268,268,266],0.065,[340,266,276,666,268,266,268,268,266],0.067,[266,266,278,668,268,266,268,268,266],9.321,[270,266,278,643,268,266,268,268,266],[273,266,278,309,268,266,268,268,266],[276,266,278,672,268,266,268,268,266],2.142,[278,266,278,176,266,266,268,268,266],[281,266,278,675,268,266,268,268,266],0.182,[340,266,278,677,268,266,268,268,266],0.121,[266,266,281,679,268,266,268,268,266],11.232,[270,266,281,681,268,266,268,268,266],0.014,[273,266,281,634,268,266,268,268,266],[276,266,281,684,268,266,268,268,266],0.008,[278,266,281,686,268,266,268,268,266],2.281,[281,266,281,624,268,266,268,268,266],[340,266,281,689,268,266,268,268,266],0.007,[266,266,340,691,268,266,268,268,266],4.551,[270,266,340,693,268,266,268,268,266],0.223,[273,266,340,695,268,266,268,268,266],0.72,[276,266,340,697,268,266,268,268,266],2.412,[278,266,340,176,266,266,268,268,266],[281,266,340,700,268,266,268,268,266],0.621,[340,266,340,702,268,266,268,268,266],0.069,[266,266,353,704,268,266,268,268,266],2.622,[270,266,353,706,268,266,268,268,266],0.03,[273,266,353,708,268,266,268,268,266],0.028,[276,266,353,710,268,266,268,268,266],0.029,[278,266,353,712,268,266,268,268,266],0.952,[281,266,353,637,268,266,268,268,266],[340,266,353,715,268,266,268,268,266],0.035,[266,266,365,717,268,266,268,268,266],4.621,[270,266,365,708,268,266,268,268,266],[273,266,365,630,268,266,268,268,266],[276,266,365,721,268,266,268,268,266],0.018,[278,266,365,176,266,266,268,268,266],[281,266,365,621,268,266,268,268,266],[340,266,365,624,268,266,268,268,266],[266,266,377,726,268,266,268,268,266],7.951,[270,266,377,728,268,266,268,268,266],0.025,[273,266,377,630,268,266,268,268,266],[276,266,377,634,268,266,268,268,266],[278,266,377,732,268,266,268,268,266],8.682,[281,266,377,624,268,266,268,268,266],[340,266,377,735,268,266,268,268,266],0.023,[266,266,390,737,268,266,268,268,266],7.912,[270,266,390,739,268,266,268,268,266],0.041,[273,266,390,741,268,266,268,268,266],0.083,[276,266,390,743,268,266,268,268,266],0.046,[278,266,390,176,266,266,268,268,266],[281,266,390,746,268,266,268,268,266],0.048,[340,266,390,624,268,266,268,268,266],[266,266,402,749,268,266,268,268,266],6.151,[270,266,402,621,268,266,268,268,266],[273,266,402,752,268,266,268,268,266],0.038,[276,266,402,634,268,266,268,268,266],[278,266,402,176,266,266,268,268,266],[281,266,402,715,268,266,268,268,266],[340,266,402,653,268,266,268,268,266],[266,266,189,758,268,266,268,268,266],9.032,[270,266,189,317,268,266,268,268,266],[273,266,189,293,268,266,268,268,266],[276,266,189,317,268,266,268,268,266],[278,266,189,763,268,266,268,268,266],3.584,[281,266,189,765,268,266,268,268,266],0.152,[340,266,189,721,268,266,268,268,266],[266,266,426,768,268,266,268,268,266],19.952,[270,266,426,770,268,266,268,268,266],0.162,[273,266,426,645,268,266,268,268,266],[276,266,426,773,268,266,268,268,266],0.462,[278,266,426,176,266,266,268,268,266],[281,266,426,776,268,266,268,268,266],0.356,[340,266,426,778,268,266,268,268,266],0.032,[266,266,439,780,268,266,268,268,266],16.781,[270,266,439,677,268,266,268,268,266],[273,266,439,708,268,266,268,268,266],[276,266,439,715,268,266,268,268,266],[278,266,439,785,268,266,268,268,266],0.563,[281,266,439,630,268,266,268,268,266],[340,266,439,788,268,266,268,268,266],0.026,[266,266,452,790,268,266,268,268,266],15.012,[270,266,452,792,268,266,268,268,266],0.051,[273,266,452,794,268,266,268,268,266],0.04,[276,266,452,796,268,266,268,268,266],0.059,[278,266,452,176,266,266,268,268,266],[281,266,452,799,268,266,268,268,266],0.053,[340,266,452,743,268,266,268,268,266],[266,270,465,802,268,270,268,268,270],7.416,[270,270,465,804,268,270,268,268,270],0.097,[273,270,465,806,268,270,268,268,270],0.151,[276,270,465,808,268,270,268,268,270],0.278,[278,270,465,810,268,270,268,268,270],1.928,[281,270,465,812,268,270,268,268,270],0.137,[353,270,465,792,268,270,268,268,270],[365,270,465,632,268,270,268,268,270],[377,270,465,816,268,270,268,268,270],0.089,[340,270,465,818,268,270,268,268,270],0.045,[820],"failed (system totally failed, marked x)",[196,822],"Table II (Average row); text Sec. IX-B states 0.044 m for Ours",[],[],[826,827],"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":829,"group":830,"sourceId":831,"sourceLabel":832,"table":833,"selfRows":478,"metrics":834,"seqs":839,"entrants":859,"cells":867,"outcomes":998,"locators":1000,"hardware":1001,"wordings":1002,"notes":1003},"fastlivo2rc2025-table-i","fastlivo2rc2025:Table I","fastlivo2rc2025","Zhou et al., 2025","Table I",[835,837],{"label":836,"unit":201,"statistic":202,"alignment":203},"ATE (RMSE)",{"label":838,"unit":201,"statistic":202,"alignment":203},"ATE (RMSE), Average",[840,841,842,843,844,845,846,847,848,849,850,851,852,853,854,855,856],{"dataset":542,"sequence":543,"environment":544},{"dataset":542,"sequence":546,"environment":544},{"dataset":542,"sequence":548,"environment":549},{"dataset":542,"sequence":551,"environment":552},{"dataset":542,"sequence":554,"environment":555},{"dataset":542,"sequence":557,"environment":558},{"dataset":542,"sequence":560,"environment":561},{"dataset":542,"sequence":563,"environment":564},{"dataset":566,"sequence":567,"environment":568},{"dataset":566,"sequence":570,"environment":568},{"dataset":566,"sequence":572,"environment":568},{"dataset":566,"sequence":574,"environment":575},{"dataset":566,"sequence":577,"environment":578},{"dataset":566,"sequence":580,"environment":581},{"dataset":566,"sequence":583,"environment":584},{"dataset":566,"sequence":586,"environment":587},{"dataset":137,"sequence":857,"environment":858},"Average (16 sequences)","construction sites, offices, basements",[860,861,862,863,864,865,866],{"name":606,"methodId":831,"linkable":255,"proposed":255,"self":91},{"name":7,"methodId":5,"linkable":255,"proposed":91,"self":255},{"name":253,"methodId":254,"linkable":255,"proposed":91,"self":91},{"name":603,"methodId":604,"linkable":255,"proposed":91,"self":91},{"name":259,"methodId":260,"linkable":255,"proposed":91,"self":91},{"name":594,"methodId":176,"linkable":91,"proposed":91,"self":91},{"name":600,"methodId":601,"linkable":255,"proposed":91,"self":91},[868,869,870,871,872,873,874,875,876,877,878,879,880,881,882,883,884,885,886,887,888,889,891,892,893,894,895,896,897,899,900,901,902,903,904,905,906,907,908,909,910,911,912,913,914,915,916,917,918,919,920,921,922,923,924,925,926,927,928,929,930,931,932,933,934,935,936,937,938,939,940,941,942,943,944,945,946,947,948,949,950,951,952,953,954,956,957,958,959,960,961,962,964,965,966,967,968,969,970,971,972,973,974,975,976,977,978,979,980,981,982,983,984,986,988,990,992,994,996],[266,266,266,626,268,266,268,268,266],[270,266,266,626,268,266,268,268,266],[273,266,266,619,268,266,268,268,266],[276,266,266,624,268,266,268,268,266],[278,266,266,621,268,266,268,268,266],[281,266,266,615,268,266,268,268,266],[340,266,266,176,266,266,268,268,266],[266,266,270,735,268,266,268,268,266],[270,266,270,639,268,266,268,268,266],[273,266,270,632,268,266,268,268,266],[276,266,270,637,268,266,268,268,266],[278,266,270,634,268,266,268,268,266],[281,266,270,628,268,266,268,268,266],[340,266,270,176,266,266,268,268,266],[266,266,273,293,268,266,268,268,266],[270,266,273,653,268,266,268,268,266],[273,266,273,645,268,266,268,268,266],[276,266,273,651,268,266,268,268,266],[278,266,273,647,268,266,268,268,266],[281,266,273,641,268,266,268,268,266],[340,266,273,649,268,266,268,268,266],[266,266,276,890,268,266,268,268,266],0.054,[270,266,276,666,268,266,268,268,266],[273,266,276,659,268,266,268,268,266],[276,266,276,664,268,266,268,268,266],[278,266,276,657,268,266,268,268,266],[281,266,276,655,268,266,268,268,266],[340,266,276,662,268,266,268,268,266],[266,266,278,898,268,266,268,268,266],0.22,[270,266,278,677,268,266,268,268,266],[273,266,278,309,268,266,268,268,266],[276,266,278,675,268,266,268,268,266],[278,266,278,672,268,266,268,268,266],[281,266,278,668,268,266,268,268,266],[340,266,278,176,266,266,268,268,266],[266,266,281,721,268,266,268,268,266],[270,266,281,689,268,266,268,268,266],[273,266,281,634,268,266,268,268,266],[276,266,281,624,268,266,268,268,266],[278,266,281,684,268,266,268,268,266],[281,266,281,679,268,266,268,268,266],[340,266,281,686,268,266,268,268,266],[266,266,340,337,268,266,268,268,266],[270,266,340,702,268,266,268,268,266],[273,266,340,695,268,266,268,268,266],[276,266,340,700,268,266,268,268,266],[278,266,340,697,268,266,268,268,266],[281,266,340,691,268,266,268,268,266],[340,266,340,176,266,266,268,268,266],[266,266,353,739,268,266,268,268,266],[270,266,353,715,268,266,268,268,266],[273,266,353,708,268,266,268,268,266],[276,266,353,637,268,266,268,268,266],[278,266,353,710,268,266,268,268,266],[281,266,353,704,268,266,268,268,266],[340,266,353,712,268,266,268,268,266],[266,266,365,778,268,266,268,268,266],[270,266,365,621,268,266,268,268,266],[273,266,365,630,268,266,268,268,266],[276,266,365,624,268,266,268,268,266],[278,266,365,634,268,266,268,268,266],[281,266,365,717,268,266,268,268,266],[340,266,365,176,266,266,268,268,266],[266,266,377,721,268,266,268,268,266],[270,266,377,735,268,266,268,268,266],[273,266,377,630,268,266,268,268,266],[276,266,377,624,268,266,268,268,266],[278,266,377,634,268,266,268,268,266],[281,266,377,726,268,266,268,268,266],[340,266,377,732,268,266,268,268,266],[266,266,390,752,268,266,268,268,266],[270,266,390,624,268,266,268,268,266],[273,266,390,741,268,266,268,268,266],[276,266,390,746,268,266,268,268,266],[278,266,390,743,268,266,268,268,266],[281,266,390,737,268,266,268,268,266],[340,266,390,176,266,266,268,268,266],[266,266,402,634,268,266,268,268,266],[270,266,402,653,268,266,268,268,266],[273,266,402,752,268,266,268,268,266],[276,266,402,715,268,266,268,268,266],[278,266,402,634,268,266,268,268,266],[281,266,402,749,268,266,268,268,266],[340,266,402,176,266,266,268,268,266],[266,266,189,955,268,266,268,268,266],0.012,[270,266,189,721,268,266,268,268,266],[273,266,189,293,268,266,268,268,266],[276,266,189,765,268,266,268,268,266],[278,266,189,317,268,266,268,268,266],[281,266,189,758,268,266,268,268,266],[340,266,189,763,268,266,268,268,266],[266,266,426,963,268,266,268,268,266],0.095,[270,266,426,778,268,266,268,268,266],[273,266,426,645,268,266,268,268,266],[276,266,426,776,268,266,268,268,266],[278,266,426,773,268,266,268,268,266],[281,266,426,768,268,266,268,268,266],[340,266,426,176,266,266,268,268,266],[266,266,439,708,268,266,268,268,266],[270,266,439,788,268,266,268,268,266],[273,266,439,708,268,266,268,268,266],[276,266,439,630,268,266,268,268,266],[278,266,439,715,268,266,268,268,266],[281,266,439,780,268,266,268,268,266],[340,266,439,785,268,266,268,268,266],[266,266,452,632,268,266,268,268,266],[270,266,452,743,268,266,268,268,266],[273,266,452,794,268,266,268,268,266],[276,266,452,799,268,266,268,268,266],[278,266,452,796,268,266,268,268,266],[281,266,452,790,268,266,268,268,266],[340,266,452,176,266,266,268,268,266],[266,270,465,985,268,266,268,268,270],0.063,[270,270,465,987,268,266,268,268,270],0.034,[273,270,465,989,268,266,268,268,270],0.138,[276,270,465,991,268,266,268,268,270],0.123,[278,270,465,993,268,266,268,268,270],0.391,[281,270,465,995,268,266,268,268,270],11.347,[340,270,465,997,268,266,268,268,270],4.502,[999],"failed (x)",[833],[],[],[1004,1005],"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)",{"slug":1007,"group":1008,"sourceId":1009,"sourceLabel":1010,"table":1011,"selfRows":439,"metrics":1012,"seqs":1016,"entrants":1051,"cells":1068,"outcomes":1196,"locators":1199,"hardware":1200,"wordings":1201,"notes":1202},"tao2025oxfordspires-table-3","tao2025oxfordspires:Table 3","tao2025oxfordspires","Tao et al., 2025","Table 3",[1013],{"label":1014,"unit":201,"statistic":202,"alignment":1015},"RMS of ATE","SE3",[1017,1021,1023,1025,1027,1030,1032,1035,1037,1039,1042,1044,1046,1048],{"dataset":1018,"sequence":1019,"environment":1020},"Oxford Spires","Keble College 02 (290 m)","historic site, outdoor and indoor parts (Keble College, Oxford)",{"dataset":1018,"sequence":1022,"environment":1020},"Keble College 03 (280 m)",{"dataset":1018,"sequence":1024,"environment":1020},"Keble College 04 (780 m)",{"dataset":1018,"sequence":1026,"environment":1020},"Keble College 05 (710 m)",{"dataset":1018,"sequence":1028,"environment":1029},"Radcliffe Observatory Quarter 01 (400 m)","historic site, outdoor and indoor parts (Radcliffe Observatory Quarter, Oxford)",{"dataset":1018,"sequence":1031,"environment":1029},"Radcliffe Observatory Quarter 02 (390 m)",{"dataset":1018,"sequence":1033,"environment":1034},"Blenheim Palace 01 (490 m)","historic site, outdoor and indoor parts (Blenheim Palace, Oxford)",{"dataset":1018,"sequence":1036,"environment":1034},"Blenheim Palace 02 (390 m)",{"dataset":1018,"sequence":1038,"environment":1034},"Blenheim Palace 05 (390 m)",{"dataset":1018,"sequence":1040,"environment":1041},"Christ Church College 01 (920 m)","historic site, outdoor and indoor parts (Christ Church College, Oxford)",{"dataset":1018,"sequence":1043,"environment":1041},"Christ Church College 02 (640 m)",{"dataset":1018,"sequence":1045,"environment":1041},"Christ Church College 03 (340 m)",{"dataset":1018,"sequence":1047,"environment":1041},"Christ Church College 05 (820 m)",{"dataset":1018,"sequence":1049,"environment":1050},"Bodleian Library 02 (690 m)","historic site, outdoor and indoor parts (Bodleian Library, Oxford)",[1052,1054,1056,1058,1061,1063,1066],{"name":1053,"methodId":176,"linkable":91,"proposed":91,"self":91},"VILENS-SLAM",{"name":1055,"methodId":176,"linkable":91,"proposed":91,"self":91},"Fast-LIO-SLAM",{"name":1057,"methodId":176,"linkable":91,"proposed":91,"self":91},"SC-LIO-SAM",{"name":1059,"methodId":1060,"linkable":255,"proposed":91,"self":91},"ImMesh","lin2023immesh",{"name":1062,"methodId":5,"linkable":255,"proposed":91,"self":255},"Fast-LIVO2",{"name":1064,"methodId":1065,"linkable":255,"proposed":91,"self":91},"HBA","hba2023",{"name":1067,"methodId":176,"linkable":91,"proposed":91,"self":91},"COLMAP",[1069,1071,1072,1074,1076,1077,1078,1080,1081,1082,1084,1085,1086,1088,1089,1091,1093,1094,1096,1098,1099,1101,1102,1104,1105,1107,1108,1109,1110,1111,1112,1114,1116,1117,1118,1119,1120,1122,1123,1125,1126,1127,1128,1129,1130,1132,1133,1134,1136,1137,1138,1139,1141,1143,1144,1145,1146,1148,1150,1151,1152,1153,1154,1155,1156,1157,1158,1159,1160,1161,1162,1163,1164,1165,1167,1169,1170,1172,1173,1174,1175,1176,1177,1178,1179,1180,1181,1182,1183,1184,1185,1186,1188,1189,1190,1191,1193,1195],[266,266,266,1070,268,266,268,268,266],0.06,[270,266,266,309,268,266,268,268,266],[273,266,266,1073,268,266,268,268,266],1.26,[276,266,266,1075,268,266,268,268,266],0.08,[278,266,266,491,268,266,268,268,266],[281,266,266,317,268,266,268,268,266],[340,266,266,1079,268,266,268,268,266],0.05,[266,266,270,328,268,266,268,268,266],[270,266,270,317,268,266,268,268,266],[273,266,270,1083,268,266,268,268,266],4.02,[276,266,270,328,268,266,268,268,266],[278,266,270,1070,268,266,268,268,266],[281,266,270,1087,268,266,268,268,266],0.12,[340,266,270,1079,268,266,268,268,266],[266,266,273,1090,268,266,268,268,266],0.16,[270,266,273,1092,268,266,268,268,266],0.49,[273,266,273,176,266,266,268,268,266],[276,266,273,1095,268,266,268,268,266],3.67,[278,266,273,1097,268,266,268,268,266],0.09,[281,266,273,1087,268,266,268,268,266],[340,266,273,1100,268,266,268,268,266],0.07,[266,266,276,317,268,266,268,268,266],[270,266,276,1103,268,266,268,268,266],0.29,[273,266,276,176,266,266,268,268,266],[276,266,276,1106,268,266,268,268,266],0.13,[278,266,276,317,268,266,268,268,266],[281,266,276,1106,268,266,268,268,266],[340,266,276,1097,268,266,268,268,266],[266,266,278,1070,268,266,268,268,266],[270,266,278,293,268,266,268,268,266],[273,266,278,1113,268,266,268,268,266],0.23,[276,266,278,1115,268,266,268,268,266],0.2,[278,266,278,794,268,266,268,268,266],[281,266,278,1079,268,266,268,268,266],[340,266,278,1100,268,266,268,268,266],[266,266,281,1097,268,266,268,268,266],[270,266,281,1121,268,266,268,268,266],0.24,[273,266,281,328,268,266,268,268,266],[276,266,281,1124,268,266,268,268,266],0.27,[278,266,281,1100,268,266,268,268,266],[281,266,281,1075,268,266,268,268,266],[340,266,281,1075,268,266,268,268,266],[266,266,340,305,268,266,268,268,266],[270,266,340,337,268,266,268,268,266],[273,266,340,1131,268,266,268,268,266],6.74,[276,266,340,1124,268,266,268,268,266],[278,266,340,328,268,266,268,268,266],[281,266,340,1135,268,266,268,268,266],0.21,[340,266,340,1075,268,266,268,268,266],[266,266,353,1090,268,266,268,268,266],[270,266,353,1087,268,266,268,268,266],[273,266,353,1140,268,266,268,268,266],4.41,[276,266,353,1142,268,266,268,268,266],0.36,[278,266,353,898,268,266,268,268,266],[281,266,353,1075,268,266,268,268,266],[340,266,353,1079,268,266,268,268,266],[266,266,365,1147,268,266,268,268,266],1.05,[270,266,365,1149,268,266,268,268,266],0.28,[273,266,365,176,266,266,268,268,266],[276,266,365,898,268,266,268,268,266],[278,266,365,315,268,266,268,268,266],[281,266,365,328,268,266,268,268,266],[340,266,365,315,268,266,268,268,266],[266,266,377,1070,268,266,268,268,266],[270,266,377,695,268,266,268,268,266],[273,266,377,176,266,266,268,268,266],[276,266,377,291,268,266,268,268,266],[278,266,377,400,268,266,268,268,266],[281,266,377,1100,268,266,268,268,266],[340,266,377,1070,268,266,268,268,266],[266,266,390,293,268,266,268,268,266],[270,266,390,1092,268,266,268,268,266],[273,266,390,176,266,266,268,268,266],[276,266,390,1166,268,266,268,268,266],1.7,[278,266,390,1168,268,266,268,268,266],0.63,[281,266,390,1087,268,266,268,268,266],[340,266,390,1171,268,266,268,268,266],0.15,[266,266,402,706,268,266,268,268,266],[270,266,402,1113,268,266,268,268,266],[273,266,402,328,268,266,268,268,266],[276,266,402,1090,268,266,268,268,266],[278,266,402,176,270,266,268,268,266],[281,266,402,1079,268,266,268,268,266],[340,266,402,1100,268,266,268,268,266],[266,266,189,293,268,266,268,268,266],[270,266,189,351,268,266,268,268,266],[273,266,189,176,266,266,268,268,266],[276,266,189,1135,268,266,268,268,266],[278,266,189,1171,268,266,268,268,266],[281,266,189,1087,268,266,268,268,266],[340,266,189,176,273,266,268,268,266],[266,266,426,1187,268,266,268,268,266],1.11,[270,266,426,309,268,266,268,268,266],[273,266,426,341,268,266,268,268,266],[276,266,426,325,268,266,268,268,266],[278,266,426,1192,268,266,268,268,266],0.46,[281,266,426,1194,268,266,268,268,266],0.89,[340,266,426,1124,268,266,268,268,266],[526,1197,1198],"other: marked ✗ in Table 3 with no value; the caption explains ✗ only for SC-LIO-SAM failures and incomplete COLMAP results, so the reason for this Fast-LIVO2 entry is not stated","other: marked ✗ in Table 3; the caption states that COLMAP gives incomplete results on some sequences (Sec. 6.1.2: multiple disconnected sub-models under poor lighting)",[1011],[],[],[1203],"ATE RMS (m) against LiDAR-to-TLS ground truth after SE(3) Umeyama alignment; online: VILENS-SLAM, Fast-LIO-SLAM, SC-LIO-SAM, ImMesh, Fast-LIVO2; offline: HBA (input VILENS-SLAM), COLMAP (images only). VILENS-SLAM = VILENS with pose-graph optimisation; Fast-LIO-SLAM and SC-LIO-SAM add Scan Context loop closures to Fast-LIO2 and LIO-SAM. 'x' in the table = failed or incomplete. Authors note methods could improve with further tuning.",[1205,1211,1216,1220,1225,1229,1234,1240],{"group":1206,"slug":1207,"sourceLabel":6,"table":1208,"selfRows":390,"datasets":1209},"fastlivo2_2025:Table III","fastlivo2-2025-table-iii","Table III",[542,1210],"Hilti'22, Hilti'23, NTU-VIRAL, FAST-LIVO2 private",{"group":1212,"slug":1213,"sourceLabel":195,"table":1208,"selfRows":353,"datasets":1214},"palvio2026:Table III","palvio2026-table-iii",[1215],"R3LIVE dataset",{"group":1217,"slug":1218,"sourceLabel":832,"table":196,"selfRows":340,"datasets":1219},"fastlivo2rc2025:Table II","fastlivo2rc2025-table-ii",[137],{"group":1221,"slug":1222,"sourceLabel":6,"table":1223,"selfRows":278,"datasets":1224},"fastlivo2_2025:Text Sec.X-B","fastlivo2-2025-text-sec-x-b","Text Sec.X-B",[144],{"group":1226,"slug":1227,"sourceLabel":832,"table":1208,"selfRows":278,"datasets":1228},"fastlivo2rc2025:Table III","fastlivo2rc2025-table-iii",[542,137],{"group":1230,"slug":1231,"sourceLabel":6,"table":1232,"selfRows":270,"datasets":1233},"fastlivo2_2025:Text Sec.IX-C","fastlivo2-2025-text-sec-ix-c","Text Sec.IX-C",[155],{"group":1235,"slug":1236,"sourceLabel":6,"table":1237,"selfRows":270,"datasets":1238},"fastlivo2_2025:Text Sec.X-A2","fastlivo2-2025-text-sec-x-a2","Text Sec.X-A2",[1239],"UAV flights (Basement, Woods, Narrow Opening, SYSU Campus)",{"group":1241,"slug":1242,"sourceLabel":1243,"table":1244,"selfRows":270,"datasets":1245},"okvis2x2025:Table IV","okvis2x2025-table-iv","Boche et al., 2025","Table IV",[1246],"Hilti-Oxford (Hilti 2022 challenge)",1790510656324]