[{"data":1,"prerenderedAt":1193},["ShallowReactive",2],{"method-floam2021":3},{"method":4,"reference":54,"equipment":75,"figures":123,"results":124},{"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":27,"sensors":29,"platform":31,"estimator":36,"association":37,"timeModel":38,"deskew":39,"loopClosure":40,"globalOptimization":40,"mapRepresentation":41,"prior":40,"outputGeometry":42,"compute":43,"codeUrl":44,"codeLicense":45,"relatedVersions":46},"floam2021","Wang et al., 2021a","F-LOAM","F-LOAM : Fast LiDAR Odometry and Mapping",2021,"recent","C04","odometry_with_local_mapping","F-LOAM 以 LOAM 為基礎，著眼於降低計算量：運動畸變校正改為非迭代的兩階段方法，先以等速模型預測並校正，待位姿最佳化後再重算一次畸變並更新地圖。配準時把特徵點直接對齊全域邊緣地圖與平面地圖，並以局部平滑度作為權重，偏重跨幀較穩定的特徵。系統不含迴圈閉合，地圖以關鍵影格更新並做體素降採樣。","F-LOAM keeps LOAM features but replaces iterative distortion compensation with a two-stage constant-velocity scheme and weights point-to-edge\u002Fplane residuals by local smoothness when matching to global feature maps.","full_text_reviewed","peer_reviewed_published","background","原論文測試於 KITTI、模擬倉儲與實體倉儲 AGV。Feng 等人 [feng2025_construction_lidar_eval] 在施工中醫院門診大樓以預設參數測試，作者報告 F-LOAM 雖速度快，但在複雜施工場景精度下降，實際工地 APE RMSE 為 20.31 m（Table 4），並在三個與結構轉換相關的誤差峰中的第二、三個峰出現最高誤差（Sec. 5.3）。論文未說明實際工地 APE 所用參考軌跡的來源（全文僅描述 Gazebo 模擬的真實軌跡外掛），故實際工地 APE 只能視為作者報告值，不能當作已驗證的幾何精度。",[20,21,22,23],"public_benchmark","simulation","controlled_experiment","independent_reference",[25,26],"On KITTI 00-10, with IMU and loop closure removed from all compared methods for consistency, F-LOAM achieved the second highest accuracy after IMLS-SLAM (whose results were copied from its paper) at more than 10 Hz, while LeGO-LOAM was the fastest","the per-method values appear only in a bar chart",[28],"(verifier finding) The ablation (Table I) does not state the accuracy reference or the hardware, and the VICON test reports only an average error of 2 cm without RMSE, trajectory length or duration",[30],"3D LiDAR only as method input: Velodyne HDL-64 as written (KITTI, whose cameras and GPS are not used), Velodyne VLP-16 on the warehouse AGV, virtual Velodyne VLP-16 in Gazebo; VICON motion capture used only as indoor ground truth",[32,33,34,35],"vehicle (KITTI)","warehouse AGV with Intel NUC and Velodyne VLP-16 (model of AGV not stated)","simulation (virtual Pioneer robot in a Gazebo warehouse with moving workers, joystick-driven up to 2 m\u002Fs)","indoor VICON room","Gauss-Newton minimization of smoothness-weighted point-to-edge and point-to-plane distances to global feature maps (Sec. III-C)","LOAM-style smoothness features; global line\u002Fplane estimated from nearby map points by covariance eigen-analysis (KD-tree) (Sec. III-A, III-C)","discrete scan poses; constant-velocity interpolation within a scan (Sec. III-B)","non-iterative two-stage compensation: constant-velocity prediction before matching, then recomputation with the optimized pose before map update (Sec. III-B, III-D)","none","global edge map and global planar map updated at keyframes and voxel-grid downsampled (Sec. III-D)","global edge\u002Fplanar feature maps and poses (Sec. III-D)","more than 10 Hz on KITTI (Intel i7 3.2 GHz); Intel NUC on the AGV; ablation 69.07 ms\u002Fframe (Table I)","https:\u002F\u002Fgithub.com\u002Fwh200720041\u002Ffloam","BSD-style 3-clause text inherited from LOAM\u002FA-LOAM (LICENSE file)",[47,51],{"relation":48,"title":49,"doi_or_url":50},"preprint","arXiv 2107.00822 (title 'F-LOAM: Fast LiDAR Odometry And Mapping')","https:\u002F\u002Farxiv.org\u002Fabs\u002F2107.00822",{"relation":52,"title":53,"doi_or_url":44},"code_release","wh200720041\u002Ffloam",{"id":5,"kind":55,"shortName":7,"title":8,"authors":56,"year":9,"venue":61,"venueType":62,"publisher":63,"volumeIssuePages":64,"doi":65,"arxivId":66,"url":50,"firstPublicDate":67,"publicationStatus":16,"metadataStatus":68,"fulltextStatus":15,"era":10,"classicReason":69,"codeUrl":44,"cluster":11,"topics":70,"mdpi":71,"verification":72,"label":6,"fulltextRoute":73,"versionRead":74,"addedByCensus":71},"method",[57,58,59,60],"Han Wang","Chen Wang","Chun-Lin Chen","Lihua Xie","2021 IEEE\u002FRSJ International Conference on Intelligent Robots and Systems (IROS)","conference","IEEE","pp. 4390-4396","10.1109\u002Firos51168.2021.9636655","2107.00822","2021-07-02","metadata_verified","not_applicable",[11],false,"corrected","arXiv","arXiv 2107.00822v1 (2021-07-02; journal-ref IROS 2021); IEEE version of record not compared because IEEE Xplore was temporarily unavailable during this session",[76,84,88,91,96,102,106,110,113,116],{"category":77,"model":78,"canonical":79,"role":80,"dataset":81,"specs":82,"locator":83},"lidar","Velodyne HDL-64","Velodyne HDL-64E","dataset sensor","KITTI Odometry","not_reported","Sec. IV-B",{"category":85,"model":86,"canonical":86,"role":80,"dataset":81,"specs":87,"locator":83},"camera","KITTI cameras (model not stated)","not used by F-LOAM",{"category":89,"model":90,"canonical":90,"role":80,"dataset":81,"specs":87,"locator":83},"gnss","KITTI GPS (model not stated)",{"category":92,"model":93,"canonical":93,"role":94,"dataset":81,"specs":95,"locator":83},"compute","Intel i7 3.2GHz processor based computer","compute for runtime","used to time all compared methods on KITTI; ROS Melodic, Ubuntu 18.04",{"category":77,"model":97,"canonical":98,"role":80,"dataset":99,"specs":100,"locator":101},"Velodyne VLP-16 (virtual)","Velodyne VLP-16","Gazebo simulated warehouse","Gazebo sensor model","Sec. IV-C1; Fig. 4b",{"category":103,"model":104,"canonical":104,"role":80,"dataset":99,"specs":105,"locator":101},"platform","Pioneer robot (virtual)","joystick-controlled, maximum 2 m\u002Fs",{"category":77,"model":98,"canonical":98,"role":107,"dataset":108,"specs":82,"locator":109},"method input",null,"Sec. IV-C2",{"category":92,"model":111,"canonical":111,"role":94,"dataset":108,"specs":112,"locator":109},"Intel NUC mini computer","onboard the AGV",{"category":103,"model":114,"canonical":114,"role":107,"dataset":108,"specs":82,"locator":115},"Automated Guided Vehicle for smart manufacturing (model not stated)","Sec. IV-C2; Fig. 5a",{"category":117,"model":118,"canonical":119,"role":120,"dataset":108,"specs":121,"locator":122},"other","VICON motion capture system","Vicon motion capture system","reference or ground truth","indoor room ground truth","Sec. IV-C3",[],{"totalRows":125,"groupCount":126,"groups":127,"others":1007},220,39,[128,421,579,822],{"slug":129,"group":130,"sourceId":131,"sourceLabel":132,"table":133,"selfRows":134,"metrics":135,"seqs":144,"entrants":198,"cells":212,"outcomes":414,"locators":416,"hardware":417,"wordings":418,"notes":419},"madicp2024-table-ii","madicp2024:Table II","madicp2024","Ferrari et al., 2024","Table II",19,[136,140,142],{"label":137,"unit":138,"statistic":139,"alignment":82},"RPE [%] (segments 100-800 m)","%","mean",{"label":141,"unit":138,"statistic":139,"alignment":82},"RPE [%] (segments 10-80 m)",{"label":143,"unit":138,"statistic":139,"alignment":82},"RPE [%] (segments mixed)",[145,149,153,157,159,162,164,166,169,171,174,177,180,182,185,186,190,192,194],{"dataset":146,"sequence":147,"environment":148},"KITTI","KITTI avg (Seq. 00-10)","car, urban and highway (Velodyne HDL-64)",{"dataset":150,"sequence":151,"environment":152},"MulRan","MulRan avg (12 sequences)","car, urban (Ouster OS1-64)",{"dataset":154,"sequence":155,"environment":156},"Newer College NC0 (OS0-128)","cat. easy","handheld, catacombs",{"dataset":154,"sequence":158,"environment":156},"cat. med.",{"dataset":154,"sequence":160,"environment":161},"cloister","handheld campus",{"dataset":154,"sequence":163,"environment":161},"m. easy",{"dataset":154,"sequence":165,"environment":161},"m. med.",{"dataset":154,"sequence":167,"environment":168},"quad easy","handheld campus quad",{"dataset":154,"sequence":170,"environment":168},"quad med.",{"dataset":154,"sequence":172,"environment":173},"stairs","handheld, indoor stairwell",{"dataset":154,"sequence":175,"environment":176},"avg","handheld",{"dataset":178,"sequence":179,"environment":161},"Newer College NC1 (OS1-64)","short",{"dataset":178,"sequence":181,"environment":161},"long",{"dataset":178,"sequence":183,"environment":184},"parkland","handheld park",{"dataset":178,"sequence":175,"environment":176},{"dataset":187,"sequence":188,"environment":189},"Hilti 2021 (OS0-64)","drone","quadrotor",{"dataset":187,"sequence":191,"environment":176},"lab",{"dataset":187,"sequence":175,"environment":193},"quadrotor and handheld",{"dataset":195,"sequence":196,"environment":197},"all datasets","tot avg","mixed",[199,202,205,206,209],{"name":200,"methodId":131,"linkable":201,"proposed":201,"self":71},"Ours (MAD-ICP)",true,{"name":203,"methodId":204,"linkable":201,"proposed":71,"self":71},"KISS-ICP","kissicp2023",{"name":7,"methodId":5,"linkable":201,"proposed":71,"self":201},{"name":207,"methodId":208,"linkable":201,"proposed":71,"self":71},"MULLS","mulls2021",{"name":210,"methodId":211,"linkable":201,"proposed":71,"self":71},"CT-ICP","cticp2022",[213,217,220,223,226,229,231,233,235,237,239,241,243,245,246,248,250,252,254,255,257,258,260,262,264,266,269,271,273,275,277,280,282,284,286,288,291,292,294,296,298,301,303,305,307,309,312,314,316,318,320,323,325,327,329,331,334,336,338,340,342,345,347,349,351,353,356,358,360,362,364,366,368,369,371,373,376,378,380,382,384,387,389,391,393,394,397,399,400,402,403,406,408,410,412],[214,214,214,215,216,214,216,216,214],0,0.82,-1,[218,214,214,219,216,214,216,216,214],1,0.54,[221,214,214,222,216,214,216,216,214],2,1.25,[224,214,214,225,216,214,216,216,214],3,0.6,[227,214,214,228,216,214,216,216,214],4,0.53,[214,214,218,230,216,214,216,216,214],4.34,[218,214,218,232,216,214,216,216,214],3.82,[221,214,218,234,216,214,216,216,214],6.97,[224,214,218,236,216,214,216,216,214],4.93,[227,214,218,238,216,214,216,216,214],6.25,[214,218,221,240,216,214,216,216,214],1.16,[218,218,221,242,216,214,216,216,214],2.06,[221,218,221,244,216,214,216,216,214],1.36,[224,218,221,221,216,214,216,216,214],[227,218,221,247,216,214,216,216,214],1.12,[214,218,224,249,216,214,216,216,214],1.42,[218,218,224,251,214,214,216,216,214],5.7,[221,218,224,253,214,214,216,216,214],11.02,[224,218,224,224,216,214,216,216,214],[227,218,224,256,214,214,216,216,214],10.42,[214,218,227,249,216,214,216,216,214],[218,218,227,259,216,214,216,216,214],3.39,[221,218,227,261,216,214,216,216,214],5.46,[224,218,227,263,216,214,216,216,214],1.45,[227,218,227,265,216,214,216,216,214],1.64,[214,218,267,268,216,214,216,216,214],5,0.4,[218,218,267,270,216,214,216,216,214],0.41,[221,218,267,272,216,214,216,216,214],0.85,[224,218,267,274,216,214,216,216,214],0.5,[227,218,267,276,216,214,216,216,214],0.43,[214,218,278,279,216,214,216,216,214],6,0.56,[218,218,278,281,216,214,216,216,214],0.73,[221,218,278,283,214,214,216,216,214],18.05,[224,218,278,285,216,214,216,216,214],1.06,[227,218,278,287,216,214,216,216,214],0.57,[214,218,289,290,216,214,216,216,214],7,2.64,[218,218,289,290,216,214,216,216,214],[221,218,289,293,216,214,216,216,214],3.02,[224,218,289,295,216,214,216,216,214],2.69,[227,218,289,297,216,214,216,216,214],2.73,[214,218,299,300,216,214,216,216,214],8,5.51,[218,218,299,302,216,214,216,216,214],5.98,[221,218,299,304,214,214,216,216,214],31.06,[224,218,299,306,216,214,216,216,214],5.71,[227,218,299,308,216,214,216,216,214],5.65,[214,218,310,311,216,214,216,216,214],9,0.91,[218,218,310,313,214,214,216,216,214],17903.09,[221,218,310,315,216,214,216,216,214],8.04,[224,218,310,317,214,214,216,216,214],23.84,[227,218,310,319,214,214,216,216,214],29.69,[214,218,321,322,216,214,216,216,214],10,1.84,[218,218,321,324,216,214,216,216,214],2.6,[221,218,321,326,216,214,216,216,214],3.34,[224,218,321,328,216,214,216,216,214],2.24,[227,218,321,330,216,214,216,216,214],2.02,[214,214,332,333,216,214,216,216,214],11,0.86,[218,214,332,335,216,214,216,216,214],0.88,[221,214,332,337,216,214,216,216,214],1.56,[224,214,332,339,216,214,216,216,214],1.28,[227,214,332,341,216,214,216,216,214],0.83,[214,214,343,344,216,214,216,216,214],12,0.96,[218,214,343,346,216,214,216,216,214],0.95,[221,214,343,348,214,214,216,216,214],9.87,[224,214,343,350,216,214,216,216,214],1.17,[227,214,343,352,216,214,216,216,214],0.93,[214,214,354,355,216,214,216,216,214],13,1.03,[218,214,354,357,216,214,216,216,214],1.04,[221,214,354,359,214,214,216,216,214],14.79,[224,214,354,361,214,214,216,216,214],6.11,[227,214,354,363,216,214,216,216,214],1.05,[214,214,365,352,216,214,216,216,214],14,[218,214,365,367,216,214,216,216,214],0.94,[221,214,365,337,216,214,216,216,214],[224,214,365,370,216,214,216,216,214],1.21,[227,214,365,372,216,214,216,216,214],0.9,[214,218,374,375,216,214,216,216,214],15,3.86,[218,218,374,377,216,214,216,216,214],4.02,[221,218,374,379,214,214,216,216,214],19.49,[224,218,374,381,216,214,216,216,214],4.22,[227,218,374,383,216,214,216,216,214],3.87,[214,218,385,386,216,214,216,216,214],16,0.76,[218,218,385,388,216,214,216,216,214],2.13,[221,218,385,390,216,214,216,216,214],1.38,[224,218,385,392,216,214,216,216,214],1.46,[227,218,385,386,216,214,216,216,214],[214,218,395,396,216,214,216,216,214],17,2.79,[218,218,395,398,216,214,216,216,214],3.37,[221,218,395,390,216,214,216,216,214],[224,218,395,401,216,214,216,216,214],3.26,[227,218,395,396,216,214,216,216,214],[214,221,404,405,216,214,216,216,214],18,2.14,[218,221,404,407,216,214,216,216,214],2.25,[221,221,404,409,216,214,216,216,214],2.9,[224,221,404,411,216,214,216,216,214],2.45,[227,221,404,413,216,214,216,216,214],2.5,[415],"failed (red in Table II: wrong registration produced local-map duplicates and a trajectory discontinuity; excluded from averages)",[133],[],[],[420],"KITTI benchmark RPE (%); segments 100-800 m for KITTI, MulRan and NC1, 10-80 m for NC0 and Hilti; averages exclude failures; per-sequence KITTI 00-10 and MulRan rows omitted (averages kept); values identical in arXiv v1 and version of record",{"slug":422,"group":423,"sourceId":204,"sourceLabel":424,"table":425,"selfRows":385,"metrics":426,"seqs":437,"entrants":447,"cells":457,"outcomes":573,"locators":574,"hardware":575,"wordings":576,"notes":577},"kissicp2023-table-iii","kissicp2023:Table III","Vizzo et al., 2023","Table III",[427,429,431,434],{"label":428,"unit":138,"statistic":139,"alignment":82},"Avg. tra. (KITTI relative translational error)",{"label":430,"unit":82,"statistic":139,"alignment":82},"Avg. rot. (KITTI relative rotational error; unit not stated)",{"label":432,"unit":433,"statistic":82,"alignment":82},"ATE tra. [m]","m",{"label":435,"unit":436,"statistic":82,"alignment":82},"ATE rot. [rad]","rad",[438,441,443,445],{"dataset":150,"sequence":439,"environment":440},"KAIST","urban driving",{"dataset":150,"sequence":442,"environment":440},"DCC",{"dataset":150,"sequence":444,"environment":440},"Riverside",{"dataset":150,"sequence":446,"environment":440},"Sejong* (asterisk not explained in the text read; SuMa not listed)",[448,450,453,455],{"name":449,"methodId":208,"linkable":201,"proposed":71,"self":71},"MULLS [21]",{"name":451,"methodId":452,"linkable":201,"proposed":71,"self":71},"SuMa [1]","suma2018",{"name":454,"methodId":5,"linkable":201,"proposed":71,"self":201},"F-LOAM [33]",{"name":456,"methodId":204,"linkable":201,"proposed":201,"self":71},"Ours (KISS-ICP)",[458,460,461,463,465,467,469,471,473,475,477,479,481,483,485,487,489,491,493,495,497,499,501,503,504,506,508,510,512,514,516,518,520,522,524,526,528,530,531,533,535,537,539,541,543,545,546,548,550,552,554,556,558,560,562,564,565,567,569,571],[214,214,214,459,216,214,216,216,214],2.94,[214,218,214,333,216,214,216,216,214],[214,221,214,462,216,214,216,216,214],37.24,[214,224,214,464,216,214,216,216,214],0.11,[218,214,214,466,216,214,216,216,214],5.59,[218,218,214,468,216,214,216,216,214],1.73,[218,221,214,470,216,214,216,216,214],43.61,[218,224,214,472,216,214,216,216,214],0.14,[221,214,214,474,216,214,216,216,214],3.43,[221,218,214,476,216,214,216,216,214],0.99,[221,221,214,478,216,214,216,216,214],46.17,[221,224,214,480,216,214,216,216,214],0.15,[224,214,214,482,216,214,216,216,214],2.28,[224,218,214,484,216,214,216,216,214],0.68,[224,221,214,486,216,214,216,216,214],17.4,[224,224,214,488,216,214,216,216,214],0.06,[214,214,218,490,216,214,216,216,214],2.96,[214,218,218,492,216,214,216,216,214],0.98,[214,221,218,494,216,214,216,216,214],38.35,[214,224,218,496,216,214,216,216,214],0.12,[218,214,218,498,216,214,216,216,214],5.2,[218,218,218,500,216,214,216,216,214],1.71,[218,221,218,502,216,214,216,216,214],36.22,[218,224,218,464,216,214,216,216,214],[221,214,218,505,216,214,216,216,214],3.83,[221,218,218,507,216,214,216,216,214],1.14,[221,221,218,509,216,214,216,216,214],42.7,[221,224,218,511,216,214,216,216,214],0.13,[224,214,218,513,216,214,216,216,214],2.34,[224,218,218,515,216,214,216,216,214],0.64,[224,221,218,517,216,214,216,216,214],15.16,[224,224,218,519,216,214,216,216,214],0.05,[214,214,221,521,216,214,216,216,214],5.42,[214,218,221,523,216,214,216,216,214],2.21,[214,221,221,525,216,214,216,216,214],91.16,[214,224,221,527,216,214,216,216,214],0.16,[218,214,221,529,216,214,216,216,214],13.86,[218,218,221,388,216,214,216,216,214],[218,221,221,532,216,214,216,216,214],227.24,[218,224,221,534,216,214,216,216,214],0.38,[221,214,221,536,216,214,216,216,214],5.47,[221,218,221,538,216,214,216,216,214],1.18,[221,221,221,540,216,214,216,216,214],138.09,[221,224,221,542,216,214,216,216,214],0.22,[224,214,221,544,216,214,216,216,214],2.89,[224,218,221,515,216,214,216,216,214],[224,221,221,547,216,214,216,216,214],49.02,[224,224,221,549,216,214,216,216,214],0.08,[214,214,224,551,216,214,216,216,214],5.93,[214,218,224,553,216,214,216,216,214],0.84,[214,221,224,555,216,214,216,216,214],2151,[214,224,224,557,216,214,216,216,214],0.49,[221,214,224,559,216,214,216,216,214],7.87,[221,218,224,561,216,214,216,216,214],1.2,[221,221,224,563,216,214,216,216,214],3448.97,[221,224,224,215,216,214,216,216,214],[224,214,224,566,216,214,216,216,214],4.69,[224,218,224,568,216,214,216,216,214],0.7,[224,221,224,570,216,214,216,216,214],1369.54,[224,224,224,572,216,214,216,216,214],0.33,[],[425],[],[],[578],"MulRan; values are averages over the three runs per sequence; CT-ICP not evaluated because it lacks MulRan support",{"slug":580,"group":581,"sourceId":582,"sourceLabel":583,"table":133,"selfRows":365,"metrics":584,"seqs":601,"entrants":611,"cells":632,"outcomes":812,"locators":816,"hardware":817,"wordings":819,"notes":820},"locus2021-table-ii","locus2021:Table II","locus2021","Palieri et al., 2021",[585,588,590,593,597,600],{"label":586,"unit":433,"statistic":587,"alignment":82},"APE max","max",{"label":589,"unit":433,"statistic":139,"alignment":82},"APE mean",{"label":591,"unit":433,"statistic":592,"alignment":82},"APE std","std",{"label":594,"unit":433,"statistic":595,"alignment":596},"ME (map error) RMSE","RMSE","SE3",{"label":598,"unit":599,"statistic":587,"alignment":82},"CPU load (number of cores)","cores",{"label":598,"unit":599,"statistic":139,"alignment":82},[602,606,608],{"dataset":603,"sequence":604,"environment":605},"DARPA SubT Husky datasets (CoSTAR)","Urban Alpha course","decommissioned power plant, Satsop (Elma, WA): long feature-poor corridors and large open spaces",{"dataset":603,"sequence":607,"environment":605},"Urban Beta course",{"dataset":603,"sequence":609,"environment":610},"Tunnel Safety Research course","Bruceton Research Mine, Pittsburgh: self-similar and self-repetitive tunnels",[612,614,616,618,621,623,626,629],{"name":613,"methodId":582,"linkable":201,"proposed":201,"self":71},"LOCUS",{"name":615,"methodId":582,"linkable":201,"proposed":201,"self":71},"LOCUS FGA",{"name":617,"methodId":108,"linkable":71,"proposed":71,"self":71},"BLAM",{"name":619,"methodId":620,"linkable":201,"proposed":71,"self":71},"ALOAM","aloam_software",{"name":622,"methodId":5,"linkable":201,"proposed":71,"self":201},"FLOAM",{"name":624,"methodId":625,"linkable":201,"proposed":71,"self":71},"Cartographer","cartographer2016",{"name":627,"methodId":628,"linkable":201,"proposed":71,"self":71},"LIO-Mapping","liomapping2019",{"name":630,"methodId":631,"linkable":201,"proposed":71,"self":71},"LIO-SAM","liosam2020",[633,635,637,638,640,642,643,645,647,648,650,651,653,654,656,657,659,661,663,664,666,668,670,671,672,673,674,675,676,678,680,681,682,684,686,688,690,692,694,696,698,699,700,702,703,705,706,708,710,712,713,715,717,719,720,722,724,726,728,730,731,733,735,737,739,741,743,745,747,749,751,753,755,757,758,759,761,763,765,767,769,771,773,775,776,778,779,780,782,783,784,785,787,789,791,793,794,796,798,799,800,801,802,803,804,805,806,807,809,810],[214,214,214,634,216,214,216,216,214],1.69,[214,218,214,636,216,214,216,216,214],0.62,[214,221,214,287,216,214,216,216,214],[214,224,214,639,216,214,216,216,214],0.29,[214,214,218,641,216,214,216,216,214],1.51,[214,218,218,335,216,214,216,216,214],[214,221,218,644,216,214,216,216,214],0.51,[214,224,218,646,216,214,216,216,214],0.69,[214,214,221,259,216,214,216,216,214],[214,218,221,649,216,214,216,216,214],1.67,[214,221,221,386,216,214,216,216,214],[214,224,221,652,216,214,216,216,214],0.63,[214,227,218,259,216,214,214,216,214],[214,267,218,655,216,214,214,216,214],2.72,[218,214,214,652,216,214,216,216,214],[218,218,214,658,216,214,216,216,214],0.26,[218,221,214,660,216,214,216,216,214],0.18,[218,224,214,662,216,214,216,216,214],0.28,[218,214,218,561,216,214,216,216,214],[218,218,218,665,216,214,216,216,214],0.58,[218,221,218,667,216,214,216,216,214],0.39,[218,224,218,669,216,214,216,216,214],0.48,[218,214,221,108,214,214,216,216,214],[218,218,221,108,214,214,216,216,214],[218,221,221,108,214,214,216,216,214],[218,224,221,108,214,214,216,216,214],[218,227,218,259,216,214,214,216,214],[218,267,218,655,216,214,214,216,214],[221,214,214,677,216,214,216,216,214],3.44,[221,218,214,679,216,214,216,216,214],1.01,[221,221,214,367,216,214,216,216,214],[221,224,214,276,216,214,216,216,214],[221,214,218,683,216,214,216,216,214],3.89,[221,218,218,685,216,214,216,216,214],2.27,[221,221,218,687,216,214,216,216,214],0.89,[221,224,218,689,216,214,216,216,214],1.27,[221,214,221,691,216,214,216,216,214],171.34,[221,218,221,693,216,214,216,216,214],35.45,[221,221,221,695,216,214,216,216,214],51.91,[221,224,221,697,216,214,216,216,214],5.37,[221,227,218,507,216,214,214,216,214],[221,267,218,352,216,214,214,216,214],[224,214,214,701,216,214,216,216,214],4.33,[224,218,214,390,216,214,216,216,214],[224,221,214,704,216,214,216,216,214],1.19,[224,224,214,225,216,214,216,216,214],[224,214,218,707,216,214,216,216,214],2.58,[224,218,218,709,216,214,216,216,214],2.11,[224,221,218,711,216,214,216,216,214],0.44,[224,224,218,476,216,214,216,216,214],[224,214,221,714,216,214,216,216,214],18.61,[224,218,221,716,216,214,216,216,214],10.01,[224,221,221,718,216,214,216,216,214],6.01,[224,224,221,361,216,214,216,216,214],[224,227,218,721,216,214,214,216,214],1.65,[224,267,218,723,216,214,214,216,214],1.41,[227,214,214,725,216,214,216,216,214],29.49,[227,218,214,727,216,214,216,216,214],9.19,[227,221,214,729,216,214,216,216,214],8.96,[227,224,214,468,218,214,216,216,214],[227,214,218,732,216,214,216,216,214],40.64,[227,218,218,734,216,214,216,216,214],3.94,[227,221,218,736,216,214,216,216,214],8.42,[227,224,218,738,218,214,216,216,214],3.73,[227,214,221,740,216,214,216,216,214],85.31,[227,218,221,742,216,214,216,216,214],32.49,[227,221,221,744,216,214,216,216,214],25.73,[227,224,221,746,216,214,216,216,214],20.16,[227,227,218,748,216,214,214,216,214],1.76,[227,267,218,750,216,214,214,216,214],1.44,[267,214,214,752,216,214,216,216,214],5.84,[267,218,214,754,216,214,216,216,214],2.91,[267,221,214,756,216,214,216,216,214],1.6,[267,224,214,363,216,214,216,216,214],[267,214,218,290,216,214,216,216,214],[267,218,218,760,216,214,216,216,214],1.37,[267,221,218,762,216,214,216,216,214],0.67,[267,224,218,764,216,214,216,216,214],0.31,[267,214,221,766,216,214,216,216,214],50.05,[267,218,221,768,216,214,216,216,214],14.31,[267,221,221,770,216,214,216,216,214],13.45,[267,224,221,772,216,214,216,216,214],14.25,[267,227,218,774,216,214,214,216,214],1.75,[267,267,218,335,216,214,214,216,214],[278,214,214,777,216,214,216,216,214],2.12,[278,218,214,476,216,214,216,216,214],[278,221,214,644,216,214,216,216,214],[278,224,214,781,216,214,216,216,214],0.45,[278,214,218,756,216,214,216,216,214],[278,218,218,538,216,214,216,216,214],[278,221,218,542,216,214,216,216,214],[278,224,218,786,216,214,216,216,214],0.61,[278,214,221,788,216,214,216,216,214],3.31,[278,218,221,790,216,214,216,216,214],1.99,[278,221,221,792,216,214,216,216,214],0.55,[278,224,221,386,216,214,216,216,214],[278,227,218,795,216,214,214,216,214],1.8,[278,267,218,797,216,214,214,216,214],1.53,[289,214,214,108,221,214,216,216,214],[289,218,214,108,221,214,216,216,214],[289,221,214,108,221,214,216,216,214],[289,224,214,108,221,214,216,216,214],[289,214,218,108,221,214,216,216,214],[289,218,218,108,221,214,216,216,214],[289,221,218,108,221,214,216,216,214],[289,224,218,108,221,214,216,216,214],[289,214,221,411,216,214,216,216,214],[289,218,221,808,216,214,216,216,214],1.26,[289,221,221,665,216,214,216,216,214],[289,224,221,811,216,214,216,216,214],0.52,[813,814,815],"not_run (FGA variant not reported on the Tunnel dataset)","value marked * in Table II: failure leads to a low map error","failed (authors could not get LIO-SAM working on the Urban datasets, likely because the 50 Hz IMU rate is below the recommended 200 Hz)",[133],[818],"Intel Hades Canyon NUC8i7HVKVA (4 x 1.9 GHz, 32 GB RAM, Ubuntu 18.04)",[],[821],"Husky field datasets from the SubT Urban (Alpha, Beta courses at the Satsop power plant) and Tunnel (Safety Research course, Bruceton mine) circuits; APE via evo against a reference from LOCUS scan matching on the DARPA ground-truth map; ME = RMSE of cloud-to-cloud error after ICP alignment of the map to the DARPA ground-truth map; loop closures disabled; FLOAM and LIO-Mapping ran with one LiDAR in Urban Alpha, LIO-SAM with one LiDAR; CPU loads from Urban Beta (LIO-SAM from Tunnel)",{"slug":823,"group":824,"sourceId":825,"sourceLabel":826,"table":133,"selfRows":354,"metrics":827,"seqs":835,"entrants":862,"cells":879,"outcomes":1001,"locators":1002,"hardware":1003,"wordings":1004,"notes":1005},"saloam2021-table-ii","saloam2021:Table II","saloam2021","Li et al., 2021a",[828,830,832],{"label":829,"unit":138,"statistic":139,"alignment":69},"relative translational error (%)",{"label":831,"unit":138,"statistic":139,"alignment":69},"relative translational error (%), Average",{"label":833,"unit":834,"statistic":139,"alignment":69},"relative rotational error (deg\u002F100m), Average","deg\u002F100m",[836,840,842,844,846,848,850,852,854,856,858,860],{"dataset":837,"sequence":838,"environment":839},"KITTI odometry","00*","vehicle, road",{"dataset":837,"sequence":841,"environment":839},"01",{"dataset":837,"sequence":843,"environment":839},"02*",{"dataset":837,"sequence":845,"environment":839},"03",{"dataset":837,"sequence":847,"environment":839},"04",{"dataset":837,"sequence":849,"environment":839},"05*",{"dataset":837,"sequence":851,"environment":839},"06*",{"dataset":837,"sequence":853,"environment":839},"07*",{"dataset":837,"sequence":855,"environment":839},"08*",{"dataset":837,"sequence":857,"environment":839},"09*",{"dataset":837,"sequence":859,"environment":839},"10",{"dataset":837,"sequence":861,"environment":839},"Average 00-10",[863,866,867,870,872,875,877],{"name":864,"methodId":865,"linkable":201,"proposed":71,"self":71},"LOAM* (from [19])","loam2017_auro",{"name":622,"methodId":5,"linkable":201,"proposed":71,"self":201},{"name":868,"methodId":869,"linkable":201,"proposed":71,"self":71},"ISC-LOAM","iscloam2020",{"name":871,"methodId":452,"linkable":201,"proposed":71,"self":71},"SUMA",{"name":873,"methodId":874,"linkable":201,"proposed":71,"self":71},"SUMA++","sumapp2019",{"name":876,"methodId":825,"linkable":201,"proposed":201,"self":71},"Ours-ODOM",{"name":878,"methodId":825,"linkable":201,"proposed":201,"self":71},"Ours-LOOP",[880,882,884,886,887,889,890,892,893,894,896,898,899,900,902,903,905,906,907,909,910,912,913,915,916,917,919,921,922,924,926,928,929,930,931,933,935,937,938,939,941,943,944,945,946,947,949,950,951,952,954,955,956,958,960,961,963,964,965,966,967,968,969,970,971,973,975,976,978,979,980,981,982,983,984,985,986,987,988,989,990,991,992,994,995,996,997,998,999,1000],[214,214,214,881,216,214,216,216,214],0.78,[214,214,218,883,216,214,216,216,214],1.43,[214,214,221,885,216,214,216,216,214],0.92,[214,214,224,333,216,214,216,216,214],[214,214,227,888,216,214,216,216,214],0.71,[214,214,267,287,216,214,216,216,214],[214,214,278,891,216,214,216,216,214],0.65,[214,214,289,652,216,214,216,216,214],[214,214,299,247,216,214,216,216,214],[214,214,310,895,216,214,216,216,214],0.77,[214,214,321,897,216,214,216,216,214],0.79,[214,218,332,553,216,214,216,216,214],[218,214,214,885,216,214,216,216,214],[218,214,218,901,216,214,216,216,214],2.8,[218,214,221,337,216,214,216,216,214],[218,214,224,904,216,214,216,216,214],1.09,[218,214,227,883,216,214,216,216,214],[218,214,267,897,216,214,216,216,214],[218,214,278,908,216,214,216,216,214],0.72,[218,214,289,219,216,214,216,216,214],[218,214,299,911,216,214,216,216,214],1.11,[218,214,310,339,216,214,216,216,214],[218,214,321,914,216,214,216,216,214],1.77,[218,218,332,689,216,214,216,216,214],[218,221,332,557,216,214,216,216,214],[221,214,214,918,216,214,216,216,214],1.02,[221,214,218,920,216,214,216,216,214],2.92,[221,214,221,649,216,214,216,216,214],[221,214,224,923,216,214,216,216,214],1.15,[221,214,227,925,216,214,216,216,214],1.5,[221,214,267,927,216,214,216,216,214],0.81,[221,214,278,386,216,214,216,216,214],[221,214,289,279,216,214,216,216,214],[221,214,299,561,216,214,216,216,214],[221,214,310,932,216,214,216,216,214],1.4,[221,214,321,934,216,214,216,216,214],1.87,[221,218,332,936,216,214,216,216,214],1.35,[221,221,332,811,216,214,216,216,214],[224,214,214,895,216,214,216,216,214],[224,214,218,940,216,214,216,216,214],11.15,[224,214,221,942,216,214,216,216,214],2.93,[224,214,224,222,216,214,216,216,214],[224,214,227,333,216,214,216,216,214],[224,214,267,279,216,214,216,216,214],[224,214,278,515,216,214,216,216,214],[224,214,289,948,216,214,216,216,214],0.47,[224,214,299,285,216,214,216,216,214],[224,214,310,897,216,214,216,216,214],[224,214,321,476,216,214,216,216,214],[224,218,332,953,216,214,216,216,214],1.95,[224,221,332,669,216,214,216,216,214],[227,214,214,891,216,214,216,216,214],[227,214,218,957,216,214,216,216,214],1.63,[227,214,221,959,216,214,216,216,214],3.54,[227,214,224,762,216,214,216,216,214],[227,214,227,962,216,214,216,216,214],0.34,[227,214,267,268,216,214,216,216,214],[227,214,278,948,216,214,216,216,214],[227,214,289,667,216,214,216,216,214],[227,214,299,679,216,214,216,216,214],[227,214,310,665,216,214,216,216,214],[227,214,321,762,216,214,216,216,214],[227,218,332,367,216,214,216,216,214],[227,221,332,662,216,214,216,216,214],[267,214,214,972,216,214,216,216,214],0.59,[267,214,218,974,216,214,216,216,214],1.89,[267,214,221,895,216,214,216,216,214],[267,214,224,977,216,214,216,216,214],0.87,[267,214,227,972,216,214,216,216,214],[267,214,267,781,216,214,216,216,214],[267,214,278,811,216,214,216,216,214],[267,214,289,270,216,214,216,216,214],[267,214,299,272,216,214,216,216,214],[267,214,310,484,216,214,216,216,214],[267,214,321,881,216,214,216,216,214],[267,218,332,386,216,214,216,216,214],[267,221,332,764,216,214,216,216,214],[278,214,214,972,216,214,216,216,214],[278,214,218,974,216,214,216,216,214],[278,214,221,897,216,214,216,216,214],[278,214,224,977,216,214,216,216,214],[278,214,227,972,216,214,216,216,214],[278,214,267,993,216,214,216,216,214],0.37,[278,214,278,811,216,214,216,216,214],[278,214,289,270,216,214,216,216,214],[278,214,299,553,216,214,216,216,214],[278,214,310,895,216,214,216,216,214],[278,214,321,881,216,214,216,216,214],[278,218,332,386,216,214,216,216,214],[278,221,332,662,216,214,216,216,214],[],[133],[],[],[1006],"KITTI odometry 00-10; mean relative pose error over 100-800 m trajectories (rotation deg\u002F100m \u002F translation %); * marks sequences with loops; LOAM values quoted from its journal paper [19]; other baselines run with open-source code",[1008,1013,1019,1024,1031,1037,1044,1050,1056,1062,1069,1075,1080,1084,1089,1094,1099,1104,1110,1115,1121,1125,1130,1135,1139,1143,1149,1153,1158,1164,1168,1174,1179,1184,1189],{"group":1009,"slug":1010,"sourceLabel":1011,"table":133,"selfRows":343,"datasets":1012},"ndtloam2022:Table II","ndtloam2022-table-ii","Chen et al., 2022b",[837],{"group":1014,"slug":1015,"sourceLabel":1016,"table":1017,"selfRows":343,"datasets":1018},"trajlo2024:Table I","trajlo2024-table-i","Zheng & Zhu, 2024","Table I",[837],{"group":1020,"slug":1021,"sourceLabel":1016,"table":425,"selfRows":343,"datasets":1022},"trajlo2024:Table III","trajlo2024-table-iii",[1023],"Hilti 2021 SLAM challenge",{"group":1025,"slug":1026,"sourceLabel":1027,"table":1028,"selfRows":321,"datasets":1029},"feng2026integratedslam:Table 2","feng2026integratedslam-table-2","Feng et al., 2026","Table 2",[1030],"authors' Gazebo simulation of a hospital outpatient building (Xi'an)",{"group":1032,"slug":1033,"sourceLabel":1027,"table":1034,"selfRows":321,"datasets":1035},"feng2026integratedslam:Table 6","feng2026integratedslam-table-6","Table 6",[1036],"authors' real-site recording, hospital outpatient building (Xi'an)",{"group":1038,"slug":1039,"sourceLabel":1040,"table":1041,"selfRows":299,"datasets":1042},"pinslam2024:Table VII","pinslam2024-table-vii","Pan et al., 2024","Table VII",[1043],"Newer College",{"group":1045,"slug":1046,"sourceLabel":1047,"table":133,"selfRows":299,"datasets":1048},"sgraphsplus2023:Table II","sgraphsplus2023-table-ii","Bavle et al., 2023",[1049],"in-house construction-site dataset (VLP-16)",{"group":1051,"slug":1052,"sourceLabel":1040,"table":1053,"selfRows":289,"datasets":1054},"pinslam2024:Table VIII","pinslam2024-table-viii","Table VIII",[1055],"Hilti-21 (Hilti SLAM Challenge 2021)",{"group":1057,"slug":1058,"sourceLabel":1059,"table":425,"selfRows":278,"datasets":1060},"zhu2025meshloam:Table III","zhu2025meshloam-table-iii","Zhu et al., 2025",[1061],"Hilti SLAM Challenge 2021",{"group":1063,"slug":1064,"sourceLabel":1065,"table":1066,"selfRows":267,"datasets":1067},"feng2025_construction_lidar_eval:Table 3","feng2025-construction-lidar-eval-table-3","Feng et al., 2025","Table 3",[1068],"Feng et al. simulated construction-site dataset (Gazebo)",{"group":1070,"slug":1071,"sourceLabel":1065,"table":1072,"selfRows":267,"datasets":1073},"feng2025_construction_lidar_eval:Table 4","feng2025-construction-lidar-eval-table-4","Table 4",[1074],"Feng et al. real construction-site dataset (Xi'an hospital)",{"group":1076,"slug":1077,"sourceLabel":1027,"table":1078,"selfRows":267,"datasets":1079},"feng2026integratedslam:Table 1","feng2026integratedslam-table-1","Table 1",[1030],{"group":1081,"slug":1082,"sourceLabel":1027,"table":1072,"selfRows":267,"datasets":1083},"feng2026integratedslam:Table 4","feng2026integratedslam-table-4",[1030],{"group":1085,"slug":1086,"sourceLabel":1027,"table":1087,"selfRows":267,"datasets":1088},"feng2026integratedslam:Table 5","feng2026integratedslam-table-5","Table 5",[1036],{"group":1090,"slug":1091,"sourceLabel":1047,"table":1017,"selfRows":267,"datasets":1092},"sgraphsplus2023:Table I","sgraphsplus2023-table-i",[1093],"in-house simulated data (VLP-16 simulated)",{"group":1095,"slug":1096,"sourceLabel":1027,"table":1097,"selfRows":227,"datasets":1098},"feng2026integratedslam:Table 8","feng2026integratedslam-table-8","Table 8",[1036],{"group":1100,"slug":1101,"sourceLabel":1102,"table":133,"selfRows":227,"datasets":1103},"genzicp2025:Table II","genzicp2025-table-ii","Lee et al., 2025a",[150],{"group":1105,"slug":1106,"sourceLabel":1107,"table":425,"selfRows":227,"datasets":1108},"pings2025:Table III","pings2025-table-iii","Pan et al., 2025",[1109],"in-house car dataset",{"group":1111,"slug":1112,"sourceLabel":6,"table":1113,"selfRows":224,"datasets":1114},"floam2021:Text Sec. IV-B","floam2021-text-sec-iv-b","Text Sec. IV-B",[81],{"group":1116,"slug":1117,"sourceLabel":424,"table":1118,"selfRows":224,"datasets":1119},"kissicp2023:Table IV","kissicp2023-table-iv","Table IV",[1120,1043],"NCLT",{"group":1122,"slug":1123,"sourceLabel":583,"table":425,"selfRows":224,"datasets":1124},"locus2021:Table III","locus2021-table-iii",[603],{"group":1126,"slug":1127,"sourceLabel":826,"table":1118,"selfRows":224,"datasets":1128},"saloam2021:Table IV","saloam2021-table-iv",[1129],"Ford Campus Vision and Lidar Dataset",{"group":1131,"slug":1132,"sourceLabel":6,"table":1017,"selfRows":221,"datasets":1133},"floam2021:Table I","floam2021-table-i",[1134],"authors' warehouse AGV data",{"group":1136,"slug":1137,"sourceLabel":1102,"table":1017,"selfRows":221,"datasets":1138},"genzicp2025:Table I","genzicp2025-table-i",[1043],{"group":1140,"slug":1141,"sourceLabel":424,"table":133,"selfRows":221,"datasets":1142},"kissicp2023:Table II","kissicp2023-table-ii",[837],{"group":1144,"slug":1145,"sourceLabel":1016,"table":1146,"selfRows":221,"datasets":1147},"trajlo2024:Table V","trajlo2024-table-v","Table V",[1148],"NTU VIRAL",{"group":1150,"slug":1151,"sourceLabel":1059,"table":1017,"selfRows":221,"datasets":1152},"zhu2025meshloam:Table I","zhu2025meshloam-table-i",[81],{"group":1154,"slug":1155,"sourceLabel":1059,"table":1118,"selfRows":221,"datasets":1156},"zhu2025meshloam:Table IV","zhu2025meshloam-table-iv",[1157,1043],"Mai City",{"group":1159,"slug":1160,"sourceLabel":6,"table":1161,"selfRows":218,"datasets":1162},"floam2021:Text Sec. IV-C3","floam2021-text-sec-iv-c3","Text Sec. IV-C3",[1163],"authors' VICON room test",{"group":1165,"slug":1166,"sourceLabel":1102,"table":425,"selfRows":218,"datasets":1167},"genzicp2025:Table III","genzicp2025-table-iii",[837],{"group":1169,"slug":1170,"sourceLabel":1171,"table":1066,"selfRows":218,"datasets":1172},"ghadimzadeh2025slamnde:Table 3","ghadimzadeh2025slamnde-table-3","Ghadimzadeh Alamdari et al., 2025",[1173],"Luleå SubT tunnel dataset (Koval et al. 2022)",{"group":1175,"slug":1176,"sourceLabel":132,"table":425,"selfRows":218,"datasets":1177},"madicp2024:Table III","madicp2024-table-iii",[1178],"all Table II datasets",{"group":1180,"slug":1181,"sourceLabel":1182,"table":1097,"selfRows":218,"datasets":1183},"zhang2024_3dlidarslam_survey:Table 8","zhang2024-3dlidarslam-survey-table-8","Zhang et al., 2024a",[837],{"group":1185,"slug":1186,"sourceLabel":1182,"table":1187,"selfRows":218,"datasets":1188},"zhang2024_3dlidarslam_survey:Table 9","zhang2024-3dlidarslam-survey-table-9","Table 9",[837],{"group":1190,"slug":1191,"sourceLabel":1059,"table":133,"selfRows":218,"datasets":1192},"zhu2025meshloam:Table II","zhu2025meshloam-table-ii",[81],1790510661289]