[{"data":1,"prerenderedAt":1410},["ShallowReactive",2],{"method-lvisam2021":3},{"method":4,"reference":59,"equipment":80,"figures":115,"results":143},{"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":31,"platform":36,"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},"lvisam2021","Shan et al., 2021","LVI-SAM","LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping",2021,"recent","C07","full_slam_with_global_correction","LVI-SAM 以因子圖（factor graph）為核心，將視覺慣性子系統（VIS）與光達慣性子系統（LIS）緊密耦合：LIS 提供位姿與 IMU 偏差協助 VIS 初始化，VIS 的視覺里程計則作為光達掃描配準（scan matching）的初始猜測。視覺特徵可由累積的光達點取得深度，迴圈（loop closure）候選先由 DBoW2 視覺詞袋產生，再以光達配準精修後加入 iSAM2 全域最佳化。任一子系統偵測到失效時可被繞過，以提升在無紋理或幾何退化場景的穩健性。","A factor-graph LiDAR-visual-inertial system in which a VINS-Mono-style visual-inertial subsystem and a LIO-SAM-style lidar-inertial subsystem exchange initial guesses and depth, with visual place recognition refined by LiDAR scan matching for loop closure.","full_text_reviewed","peer_reviewed_published","main_body","原論文未於營建工地、隧道或既有建物做驗證；三組自採資料為戶外都市街區（Urban，手持，含建物、車輛、行人與植被，植被遮蔽使 GPS 失效）、Jackal 無人地面車行經的結構物、植被與多種路面區域，以及含開闊棒球場的草地（Handheld）；論文未稱其為校園。後續 FAST-LIVO2 論文在含工地序列的 Hilti 資料集上將其（關閉迴圈）作為比較基準，並報告多個序列失敗（fastlivo2_2025, Sec. IX-B）。",[20],"independent_reference",[22,23,24],"Either subsystem can be bypassed on detected failure, keeping the system running in texture-less or feature-less scenes (abstract; Sec. II-B3, II-C2)","LiDAR-derived feature depth reduced end-to-end drift in the ablation (Table I, Urban dataset)","Completed the Handheld dataset (open baseball field) with or without loop closure; the authors state all lidar-based methods failed to generate meaningful results there (LOAM, LIO-mapping, LINS and LIO-SAM with loop marked Fail; LIO-SAM without loop reported 53.62 m RMSE), and LVI-SAM had the lowest errors in Table II (Sec. III-C)",[26,27,28,29,30],"VIS fails under aggressive motion, illumination change and texture-less scenes and must be detected and re-initialized (Sec. II-B3)","LIS scan matching is ill-constrained when the LiDAR faces the ground or open flat areas (Sec. II-C2, Fig. 6)","On the Jackal dataset LINS with loop closure has a lower end-to-end translation error (0.09 m) than LVI-SAM with loop closure (0.11 m) (Table II, Sec. III-B)","Follow-up work reports LVI-SAM failing on nine of 25 NTU-VIRAL\u002FHilti sequences with loop closure disabled, attributed to feature-based subsystems (fastlivo2_2025, Sec. IX-B)","No map-geometry accuracy evaluation; reference is GPS trajectory only (inference from Sec. III)",[32,33,34,35],"3D LiDAR (Velodyne VLP-16)","IMU (MicroStrain 3DM-GX5-25)","monocular camera (FLIR BFS-U3-04S2M-CS)","GPS (Reach RS+, ground-truth reference only)",[37,38],"handheld","wheeled UGV (Clearpath Jackal)","factor graph smoothing with iSAM2 in the lidar-inertial subsystem (IMU preintegration, visual odometry, lidar odometry and loop factors); VINS-Mono-style sliding-window bundle adjustment in the visual-inertial subsystem","LiDAR edge and planar features matched scan-to-map against a sliding-window keyframe feature map (adapted from LIO-SAM); KLT-tracked corner features with depth from stacked LiDAR points (3 nearest points on a unit sphere, plane intersection, 2 m consistency check)","discrete poses (keyframes); IMU-rate pose output","LiDAR point clouds de-skewed with IMU measurements before feature extraction (Fig. 1, Sec. I)","DBoW2 with BRIEF descriptors proposes candidates in the VIS; candidates refined by LiDAR scan matching in the LIS (Sec. II-B4, II-C)","incremental factor graph optimization (iSAM2) including loop closure factors","global LiDAR feature map built from keyframes; sparse visual landmarks in the VIS","none","not_reported (paper evaluates trajectories; no colored map or export format described)","real-time claimed; all methods run on a laptop with Intel i7-10710U CPU (Sec. III); per-module timing not reported","https:\u002F\u002Fgithub.com\u002FTixiaoShan\u002FLVI-SAM","BSD-3-Clause (LICENSE file checked)",[52,56],{"relation":53,"title":54,"doi_or_url":55},"preprint","LVI-SAM (arXiv v1 2021-04-22, v2 2021-05-30)","https:\u002F\u002Farxiv.org\u002Fabs\u002F2104.10831",{"relation":57,"title":58,"doi_or_url":49},"code_release","TixiaoShan\u002FLVI-SAM",{"id":5,"kind":60,"shortName":7,"title":8,"authors":61,"year":9,"venue":66,"venueType":67,"publisher":68,"volumeIssuePages":69,"doi":70,"arxivId":71,"url":55,"firstPublicDate":72,"publicationStatus":16,"metadataStatus":73,"fulltextStatus":15,"era":10,"classicReason":74,"codeUrl":49,"cluster":11,"topics":75,"mdpi":76,"verification":77,"label":6,"fulltextRoute":78,"versionRead":79,"addedByCensus":76},"method",[62,63,64,65],"Tixiao Shan","Brendan Englot","Carlo Ratti","Daniela Rus","2021 IEEE International Conference on Robotics and Automation (ICRA)","conference","IEEE","pp. 5692-5698","10.1109\u002Ficra48506.2021.9561996","2104.10831","2021-04-22","metadata_verified","not_applicable",[11],false,"corrected","arXiv","arXiv 2104.10831 v2 (2021-05-30), all 7 pages; IEEE version of record (ICRA 2021, pp. 5692-5698) downloaded through NTU institutional access and compared: only reference renumbering and minor wording differ, Table I and Table II values identical",[81,88,91,94,100,106,110],{"category":82,"model":83,"canonical":83,"role":84,"dataset":85,"specs":86,"locator":87},"lidar","Velodyne VLP-16","method input",null,"not_reported","Sec. III",{"category":89,"model":90,"canonical":90,"role":84,"dataset":85,"specs":86,"locator":87},"camera","FLIR BFS-U3-04S2M-CS",{"category":92,"model":93,"canonical":93,"role":84,"dataset":85,"specs":86,"locator":87},"imu","MicroStrain 3DM-GX5-25",{"category":95,"model":96,"canonical":96,"role":97,"dataset":85,"specs":98,"locator":99},"gnss","Reach RS+ GPS","reference or ground truth","used as ground truth where reception is available","Sec. III; Fig. 8",{"category":101,"model":102,"canonical":102,"role":84,"dataset":103,"specs":104,"locator":105},"platform","Clearpath Jackal unmanned ground vehicle","Jackal","manually driven","Sec. III-B",{"category":101,"model":107,"canonical":107,"role":84,"dataset":108,"specs":86,"locator":109},"handheld sensor suite carried by an operator","Urban; Handheld","Sec. III-A; Sec. III-C",{"category":111,"model":112,"canonical":112,"role":113,"dataset":85,"specs":114,"locator":87},"compute","laptop with Intel i7-10710U (Ubuntu Linux)","compute for runtime","all compared methods executed on it",[116,127,136],{"refId":5,"refLabel":6,"fig":117,"whatZh":118,"license":119,"licenseUrl":120,"sourceUrl":121,"src":122,"width":123,"height":124,"thumb":125,"thumbWidth":123,"thumbHeight":124,"modified":126},"Fig. 2","視覺慣性子系統框架：IMU 預積分、無深度與有深度的視覺量測共同最佳化","CC0 1.0 public domain dedication (arXiv v2 per abs page); version of record (c) 2021 IEEE","http:\u002F\u002Fcreativecommons.org\u002Fpublicdomain\u002Fzero\u002F1.0\u002F","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2104.10831v2\u002Fvio-system.png","\u002Ffigure-files\u002Flvisam2021\u002Ffig-2.webp",410,209,"\u002Ffigure-files\u002Flvisam2021\u002Ffig-2.thumb.webp","converted to WebP",{"refId":5,"refLabel":6,"fig":128,"whatZh":129,"license":119,"licenseUrl":120,"sourceUrl":130,"src":131,"width":132,"height":124,"thumb":133,"thumbWidth":134,"thumbHeight":135,"modified":126},"Fig. 5","光達慣性子系統的因子圖：IMU 預積分、視覺里程計、光達里程計與迴圈約束","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2104.10831v2\u002Flio-system.png","\u002Ffigure-files\u002Flvisam2021\u002Ffig-5.webp",515,"\u002Ffigure-files\u002Flvisam2021\u002Ffig-5.thumb.webp",480,195,{"refId":5,"refLabel":6,"fig":137,"whatZh":138,"license":119,"licenseUrl":120,"sourceUrl":139,"src":140,"width":141,"height":141,"thumb":142,"thumbWidth":134,"thumbHeight":134,"modified":126},"Fig. 6","掃描配準退化情境：光達朝向地面，以及平坦開闊無結構的場地；連結影像僅為子圖 (c)，即光達朝向地面時的掃描點雲","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2104.10831v2\u002FFigures\u002Fdegeneration\u002Fcloud-1.png","\u002Ffigure-files\u002Flvisam2021\u002Ffig-6.webp",500,"\u002Ffigure-files\u002Flvisam2021\u002Ffig-6.thumb.webp",{"totalRows":144,"groupCount":145,"groups":146,"others":1312},196,20,[147,516,835,1132],{"slug":148,"group":149,"sourceId":150,"sourceLabel":151,"table":152,"selfRows":153,"metrics":154,"seqs":160,"entrants":215,"cells":232,"outcomes":478,"locators":480,"hardware":482,"wordings":483,"notes":514},"r3livepp2024-table-iii","r3livepp2024:Table III","r3livepp2024","Lin & Zhang, 2024","Table III",26,[155,158],{"label":156,"unit":157,"statistic":86,"alignment":86},"APE (m)","m",{"label":159,"unit":157,"statistic":86,"alignment":86},"APE (m) with STD",[161,165,167,169,171,173,175,177,179,181,183,185,187,189,191,193,195,197,199,201,203,205,207,209,211,213],{"dataset":162,"sequence":163,"environment":164},"NCLT","2012-01-08 (6495.7 m, 01:25:35)","University of Michigan North Campus, indoor and outdoor, all seasons (Segway robot)",{"dataset":162,"sequence":166,"environment":164},"2012-01-15 (7499.8 m, 01:52:19)",{"dataset":162,"sequence":168,"environment":164},"2012-01-22 (6183.1 m, 01:27:22)",{"dataset":162,"sequence":170,"environment":164},"2012-02-02 (6315.8 m, 01:38:36)",{"dataset":162,"sequence":172,"environment":164},"2012-02-04 (5641.0 m, 01:18:30)",{"dataset":162,"sequence":174,"environment":164},"2012-02-05 (6649.3 m, 01:34:17)",{"dataset":162,"sequence":176,"environment":164},"2012-02-12 (5829.1 m, 01:25:35)",{"dataset":162,"sequence":178,"environment":164},"2012-02-18 (6249.2 m, 01:29:55)",{"dataset":162,"sequence":180,"environment":164},"2012-02-19 (6232.7 m, 01:29:11)",{"dataset":162,"sequence":182,"environment":164},"2012-03-17 (5907.2 m, 01:22:53)",{"dataset":162,"sequence":184,"environment":164},"2012-03-31 (6073.7 m, 01:27:53)",{"dataset":162,"sequence":186,"environment":164},"2012-04-29 (3183.1 m, 00:43:18)",{"dataset":162,"sequence":188,"environment":164},"2012-05-11 (6116.7 m, 01:25:05)",{"dataset":162,"sequence":190,"environment":164},"2012-05-26 (6340.7 m, 01:28:34)",{"dataset":162,"sequence":192,"environment":164},"2012-06-15 (4085.9 m, 00:55:10)",{"dataset":162,"sequence":194,"environment":164},"2012-08-04 (5492.1 m, 01:20:32)",{"dataset":162,"sequence":196,"environment":164},"2012-08-20 (6014.5 m, 01:23:48)",{"dataset":162,"sequence":198,"environment":164},"2012-09-28 (5574.4 m, 01:17:59)",{"dataset":162,"sequence":200,"environment":164},"2012-10-28 (5682.1 m, 01:26:10)",{"dataset":162,"sequence":202,"environment":164},"2012-11-04 (4788.3 m, 01:20:39)",{"dataset":162,"sequence":204,"environment":164},"2012-11-17 (5751.9 m, 01:29:44)",{"dataset":162,"sequence":206,"environment":164},"2012-12-01 (4991.9 m, 01:16:48)",{"dataset":162,"sequence":208,"environment":164},"2013-01-10 (1137.3 m, 00:17:04)",{"dataset":162,"sequence":210,"environment":164},"2013-02-23 (5235.3 m, 01:20:08)",{"dataset":162,"sequence":212,"environment":164},"2013-04-05 (4523.7 m, 01:09:27)",{"dataset":162,"sequence":214,"environment":164},"Average",[216,219,222,223,226,229],{"name":217,"methodId":150,"linkable":218,"proposed":218,"self":76},"Our 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Table III",[],[484,485,486,487,488,489,490,491,492,493,494,495,496,497,498,499,500,501,502,503,504,505,506,507,508,509,510,511,512,513],"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 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 1.8 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 1.6 m","APE (m), printed with STD 3.4 m","APE (m), printed with STD 2.1 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 1.5 m","APE (m), printed with STD 3.8 m","APE (m), printed with STD 3.1 m",[515],"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":517,"group":518,"sourceId":519,"sourceLabel":520,"table":152,"selfRows":373,"metrics":521,"seqs":548,"entrants":575,"cells":588,"outcomes":829,"locators":830,"hardware":831,"wordings":832,"notes":833},"r3live2022-table-iii","r3live2022:Table III","r3live2022","Lin & Zhang, 2022",[522,525,528,530,532,534,536,538,540,542,544,546],{"label":523,"unit":524,"statistic":86,"alignment":86},"RRE (deg) over 50 m sub-sequences","deg",{"label":526,"unit":527,"statistic":86,"alignment":86},"RTE (%) over 50 m sub-sequences","%",{"label":529,"unit":524,"statistic":86,"alignment":86},"RRE (deg) over 100 m sub-sequences",{"label":531,"unit":527,"statistic":86,"alignment":86},"RTE (%) over 100 m sub-sequences",{"label":533,"unit":524,"statistic":86,"alignment":86},"RRE (deg) over 150 m sub-sequences",{"label":535,"unit":527,"statistic":86,"alignment":86},"RTE (%) over 150 m sub-sequences",{"label":537,"unit":524,"statistic":86,"alignment":86},"RRE (deg) over 200 m sub-sequences",{"label":539,"unit":527,"statistic":86,"alignment":86},"RTE (%) over 200 m sub-sequences",{"label":541,"unit":524,"statistic":86,"alignment":86},"RRE (deg) over 250 m sub-sequences",{"label":543,"unit":527,"statistic":86,"alignment":86},"RTE (%) over 250 m sub-sequences",{"label":545,"unit":524,"statistic":86,"alignment":86},"RRE (deg) over 300 m sub-sequences",{"label":547,"unit":527,"statistic":86,"alignment":86},"RTE (%) over 300 m sub-sequences",[549,553,555,557,559,561,563,565,567,569,571,573],{"dataset":550,"sequence":551,"environment":552},"R3LIVE Experiment-3 (authors' data, D-GPS RTK)","Experiment-3 (a), 50 m sub-sequences","seaport promenade with pedestrians and open sea (handheld)",{"dataset":550,"sequence":554,"environment":552},"Experiment-3 (a), 100 m sub-sequences",{"dataset":550,"sequence":556,"environment":552},"Experiment-3 (a), 150 m 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sub-sequences",[576,578,580,582,583,585],{"name":577,"methodId":519,"linkable":218,"proposed":218,"self":76},"R3LIVE-HiRes",{"name":579,"methodId":519,"linkable":218,"proposed":218,"self":76},"R3LIVE-RT",{"name":581,"methodId":5,"linkable":218,"proposed":76,"self":218},"LVI SAM",{"name":220,"methodId":221,"linkable":218,"proposed":76,"self":76},{"name":584,"methodId":228,"linkable":218,"proposed":76,"self":76},"FAST-LIO2",{"name":586,"methodId":587,"linkable":218,"proposed":76,"self":76},"VINS-Mono","vinsmono2018",[589,591,593,595,597,599,601,603,605,607,608,610,612,614,616,618,620,622,623,624,626,628,629,631,633,635,637,639,641,643,645,646,648,650,652,654,656,658,660,662,663,665,666,668,669,671,673,674,675,677,679,681,683,684,685,686,688,689,690,691,693,695,697,699,701,703,705,707,709,711,713,714,716,717,719,721,723,724,725,727,728,730,731,732,734,736,738,740,742,743,744,746,748,749,750,751,753,755,757,759,761,763,765,767,769,770,772,774,776,777,779,780,782,783,785,786,787,789,791,792,793,795,797,799,800,801,802,803,804,805,806,807,808,810,812,813,815,816,818,819,821,823,825,827],[234,234,234,590,236,234,236,236,234],0.99,[234,238,234,592,236,234,236,236,234],2.25,[234,241,238,594,236,234,236,236,234],0.53,[234,244,238,596,236,234,236,236,234],1.02,[234,247,241,598,236,234,236,236,234],0.46,[234,250,241,600,236,234,236,236,234],0.6,[234,256,244,602,236,234,236,236,234],0.29,[234,261,244,604,236,234,236,236,234],0.31,[234,264,247,606,236,234,236,236,234],0.24,[234,267,247,604,236,234,236,236,234],[234,269,250,609,236,234,236,236,234],0.21,[234,272,250,611,236,234,236,236,234],0.17,[238,234,234,613,236,234,236,236,234],1.48,[238,238,234,615,236,234,236,236,234],2.21,[238,241,238,617,236,234,236,236,234],0.54,[238,244,238,619,236,234,236,236,234],1.06,[238,247,241,621,236,234,236,236,234],0.49,[238,250,241,600,236,234,236,236,234],[238,256,244,604,236,234,236,236,234],[238,261,244,625,236,234,236,236,234],0.41,[238,264,247,627,236,234,236,236,234],0.25,[238,267,247,604,236,234,236,236,234],[238,269,250,630,236,234,236,236,234],0.22,[238,272,250,632,236,234,236,236,234],0.23,[241,234,234,634,236,234,236,236,234],2.11,[241,238,234,636,236,234,236,236,234],13.73,[241,241,238,638,236,234,236,236,234],1.04,[241,244,238,640,236,234,236,236,234],6.69,[241,247,241,642,236,234,236,236,234],0.83,[241,250,241,644,236,234,236,236,234],5.07,[241,256,244,600,236,234,236,236,234],[241,261,244,647,236,234,236,236,234],3.86,[241,264,247,649,236,234,236,236,234],0.47,[241,267,247,651,236,234,236,236,234],2.98,[241,269,250,653,236,234,236,236,234],0.43,[241,272,250,655,236,234,236,236,234],2.4,[244,234,234,657,236,234,236,236,234],1.21,[244,238,234,659,236,234,236,236,234],2.47,[244,241,238,661,236,234,236,236,234],0.61,[244,244,238,596,236,234,236,236,234],[244,247,241,664,236,234,236,236,234],0.59,[244,250,241,600,236,234,236,236,234],[244,256,244,667,236,234,236,236,234],0.34,[244,261,244,667,236,234,236,236,234],[244,264,247,670,236,234,236,236,234],0.37,[244,267,247,672,236,234,236,236,234],0.33,[244,269,250,667,236,234,236,236,234],[244,272,250,609,236,234,236,236,234],[247,234,234,676,236,234,236,236,234],1.36,[247,238,234,678,236,234,236,236,234],2.35,[247,241,238,680,236,234,236,236,234],0.66,[247,244,238,682,236,234,236,236,234],0.82,[247,247,241,649,236,234,236,236,234],[247,250,241,600,236,234,236,236,234],[247,256,244,670,236,234,236,236,234],[247,261,244,687,236,234,236,236,234],0.36,[247,264,247,670,236,234,236,236,234],[247,267,247,604,236,234,236,236,234],[247,269,250,609,236,234,236,236,234],[247,272,250,692,236,234,236,236,234],0.2,[250,234,234,694,236,234,236,236,234],3.03,[250,238,234,696,236,234,236,236,234],10.41,[250,241,238,698,236,234,236,236,234],1.7,[250,244,238,700,236,234,236,236,234],7.63,[250,247,241,702,236,234,236,236,234],1.15,[250,250,241,704,236,234,236,236,234],6.36,[250,256,244,706,236,234,236,236,234],0.89,[250,261,244,708,236,234,236,236,234],4.34,[250,264,247,710,236,234,236,236,234],0.73,[250,267,247,712,236,234,236,236,234],3.08,[250,269,250,664,236,234,236,236,234],[250,272,250,715,236,234,236,236,234],2.31,[234,234,256,619,236,234,236,236,234],[234,238,256,718,236,234,236,236,234],1.98,[234,241,261,720,236,234,236,236,234],0.58,[234,244,261,722,236,234,236,236,234],1.34,[234,247,264,653,236,234,236,236,234],[234,250,264,642,236,234,236,236,234],[234,256,267,726,236,234,236,236,234],0.32,[234,261,267,664,236,234,236,236,234],[234,264,269,729,236,234,236,236,234],0.27,[234,267,269,729,236,234,236,236,234],[234,269,272,627,236,234,236,236,234],[234,272,272,733,236,234,236,236,234],0.16,[238,234,256,735,236,234,236,236,234],0.98,[238,238,256,737,236,234,236,236,234],2.08,[238,241,261,739,236,234,236,236,234],0.55,[238,244,261,741,236,234,236,236,234],1.61,[238,247,264,649,236,234,236,236,234],[238,250,264,590,236,234,236,236,234],[238,256,267,745,236,234,236,236,234],0.39,[238,261,267,747,236,234,236,236,234],0.65,[238,264,269,672,236,234,236,236,234],[238,267,269,672,236,234,236,236,234],[238,269,272,627,236,234,236,236,234],[238,272,272,752,236,234,236,236,234],0.14,[241,234,256,754,236,234,236,236,234],2.04,[241,238,256,756,236,234,236,236,234],3.33,[241,241,261,758,236,234,236,236,234],1.05,[241,244,261,760,236,234,236,236,234],2.37,[241,247,264,762,236,234,236,236,234],0.81,[241,250,264,764,236,234,236,236,234],1.53,[241,256,267,766,236,234,236,236,234],0.57,[241,261,267,768,236,234,236,236,234],1.38,[241,264,269,621,236,234,236,236,234],[241,267,269,771,236,234,236,236,234],1.13,[241,269,272,773,236,234,236,236,234],0.44,[241,272,272,775,236,234,236,236,234],1.01,[244,234,256,771,236,234,236,236,234],[244,238,256,778,236,234,236,236,234],2.06,[244,241,261,747,236,234,236,236,234],[244,244,261,781,236,234,236,236,234],1.45,[244,247,264,621,236,234,236,236,234],[244,250,264,784,236,234,236,236,234],0.88,[244,256,267,604,236,234,236,236,234],[244,261,267,766,236,234,236,236,234],[244,264,269,788,236,234,236,236,234],0.26,[244,267,269,790,236,234,236,236,234],0.3,[244,269,272,602,236,234,236,236,234],[244,272,272,733,236,234,236,236,234],[247,234,256,794,236,234,236,236,234],1.31,[247,238,256,796,236,234,236,236,234],2.22,[247,241,261,798,236,234,236,236,234],0.69,[247,244,261,722,236,234,236,236,234],[247,247,264,621,236,234,236,236,234],[247,250,264,706,236,234,236,236,234],[247,256,267,604,236,234,236,236,234],[247,261,267,664,236,234,236,236,234],[247,264,269,788,236,234,236,236,234],[247,267,269,604,236,234,236,236,234],[247,269,272,627,236,234,236,236,234],[247,272,272,602,236,234,236,236,234],[250,234,256,809,236,234,236,236,234],2.44,[250,238,256,811,236,234,236,236,234],9.35,[250,241,261,794,236,234,236,236,234],[250,244,261,814,236,234,236,236,234],7.28,[250,247,264,590,236,234,236,236,234],[250,250,264,817,236,234,236,236,234],4.63,[250,256,267,680,236,234,236,236,234],[250,261,267,820,236,234,236,236,234],3.68,[250,264,269,822,236,234,236,236,234],0.56,[250,267,269,824,236,234,236,236,234],3.24,[250,269,272,826,236,234,236,236,234],0.48,[250,272,272,828,236,234,236,236,234],2.73,[],[481],[],[],[834],"Relative rotation error (RRE, deg) and relative translation error (RTE, %) over all sub-sequences of 50 to 300 m in two seaport sequences (Belcher Bay Promenade) with D-GPS RTK ground truth; R3LIVE-HiRes uses 1280x1024 images and 0.01 m map point spacing, R3LIVE-RT 320x256 images and 0.10 m; LVI-SAM run with a modified LiDAR front-end for the Livox Avia; identical values in arXiv v1 and the version of record",{"slug":836,"group":837,"sourceId":838,"sourceLabel":839,"table":840,"selfRows":293,"metrics":841,"seqs":847,"entrants":899,"cells":917,"outcomes":1123,"locators":1125,"hardware":1127,"wordings":1128,"notes":1129},"fastlivo2-2025-table-ii","fastlivo2_2025:Table II","fastlivo2_2025","Zheng et al., 2025","Table II",[842,845],{"label":843,"unit":157,"statistic":844,"alignment":86},"absolute translational errors (RMSE)","RMSE",{"label":846,"unit":157,"statistic":844,"alignment":86},"absolute translational errors (RMSE), Average 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1",{"dataset":873,"sequence":879,"environment":875},"Floor 2",{"dataset":873,"sequence":881,"environment":882},"Basement","basement",{"dataset":873,"sequence":884,"environment":885},"Stairs","stairs",{"dataset":873,"sequence":887,"environment":888},"Parking 3x floors down","underground parking",{"dataset":873,"sequence":890,"environment":891},"Large room","large room",{"dataset":873,"sequence":893,"environment":894},"Large room (dark)","large room, dark",{"dataset":896,"sequence":897,"environment":898},"NTU-VIRAL, Hilti'22, Hilti'23","Average (25 sequences)","mixed aerial, construction, indoor and outdoor",[900,902,904,905,907,908,909,911,913,915],{"name":901,"methodId":85,"linkable":76,"proposed":76,"self":76},"SDV-LOAM",{"name":903,"methodId":85,"linkable":76,"proposed":76,"self":76},"Our 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update)",[918,920,922,924,926,927,929,931,933,935,937,939,940,942,944,946,948,949,951,953,955,957,959,961,963,964,966,968,970,972,973,974,976,977,979,981,983,985,986,988,990,991,993,995,997,999,1001,1002,1004,1006,1008,1010,1012,1014,1016,1017,1019,1021,1022,1023,1025,1026,1027,1028,1030,1032,1033,1034,1036,1037,1039,1041,1043,1045,1047,1048,1050,1051,1053,1054,1056,1057,1058,1059,1060,1062,1064,1065,1066,1068,1070,1071,1073,1075,1076,1078,1079,1081,1083,1085,1086,1087,1088,1090,1091,1093,1095,1097,1099,1101,1102,1104,1105,1107,1109,1111,1113,1115,1117,1118,1119,1121],[234,234,234,919,236,234,236,236,234],25.121,[238,234,234,921,236,234,236,236,234],0.011,[241,234,234,923,236,234,236,236,234],0.013,[244,234,234,925,236,234,236,236,234],0.021,[247,234,234,85,234,234,236,236,234],[250,234,234,928,236,234,236,236,234],0.022,[256,234,234,930,236,234,236,236,234],0.01,[234,234,238,932,236,234,236,236,234],12.561,[238,234,238,934,236,234,236,236,234],0.031,[241,234,238,936,236,234,236,236,234],0.044,[244,234,238,938,236,234,236,236,234],0.024,[247,234,238,85,234,234,236,236,234],[250,234,238,941,236,234,236,236,234],0.052,[256,234,238,943,236,234,236,236,234],0.02,[234,234,241,945,236,234,236,236,234],9.212,[238,234,241,947,236,234,236,236,234],0.221,[241,234,241,726,236,234,236,236,234],[244,234,241,950,236,234,236,236,234],0.784,[247,234,241,952,236,234,236,236,234],9.142,[250,234,241,954,236,234,236,236,234],0.241,[256,234,241,956,236,234,236,236,234],0.016,[234,234,244,958,236,234,236,236,234],19.531,[238,234,244,960,236,234,236,236,234],0.061,[241,234,244,962,236,234,236,236,234],0.064,[244,234,244,960,236,234,236,236,234],[247,234,244,965,236,234,236,236,234],6.312,[250,234,244,967,236,234,236,236,234],0.065,[256,234,244,969,236,234,236,236,234],0.067,[234,234,247,971,236,234,236,236,234],9.321,[238,234,247,947,236,234,236,236,234],[241,234,247,627,236,234,236,236,234],[244,234,247,975,236,234,236,236,234],2.142,[247,234,247,85,234,234,236,236,234],[250,234,247,978,236,234,236,236,234],0.182,[256,234,247,980,236,234,236,236,234],0.121,[234,234,250,982,236,234,236,236,234],11.232,[238,234,250,984,236,234,236,236,234],0.014,[241,234,250,938,236,234,236,236,234],[244,234,250,987,236,234,236,236,234],0.008,[247,234,250,989,236,234,236,236,234],2.281,[250,234,250,928,236,234,236,236,234],[256,234,250,992,236,234,236,236,234],0.007,[234,234,256,994,236,234,236,236,234],4.551,[238,234,256,996,236,234,236,236,234],0.223,[241,234,256,998,236,234,236,236,234],0.72,[244,234,256,1000,236,234,236,236,234],2.412,[247,234,256,85,234,234,236,236,234],[250,234,256,1003,236,234,236,236,234],0.621,[256,234,256,1005,236,234,236,236,234],0.069,[234,234,261,1007,236,234,236,236,234],2.622,[238,234,261,1009,236,234,236,236,234],0.03,[241,234,261,1011,236,234,236,236,234],0.028,[244,234,261,1013,236,234,236,236,234],0.029,[247,234,261,1015,236,234,236,236,234],0.952,[250,234,261,941,236,234,236,236,234],[256,234,261,1018,236,234,236,236,234],0.035,[234,234,264,1020,236,234,236,236,234],4.621,[238,234,264,1011,236,234,236,236,234],[241,234,264,934,236,234,236,236,234],[244,234,264,1024,236,234,236,236,234],0.018,[247,234,264,85,234,234,236,236,234],[250,234,264,925,236,234,236,236,234],[256,234,264,928,236,234,236,236,234],[234,234,267,1029,236,234,236,236,234],7.951,[238,234,267,1031,236,234,236,236,234],0.025,[241,234,267,934,236,234,236,236,234],[244,234,267,938,236,234,236,236,234],[247,234,267,1035,236,234,236,236,234],8.682,[250,234,267,928,236,234,236,236,234],[256,234,267,1038,236,234,236,236,234],0.023,[234,234,269,1040,236,234,236,236,234],7.912,[238,234,269,1042,236,234,236,236,234],0.041,[241,234,269,1044,236,234,236,236,234],0.083,[244,234,269,1046,236,234,236,236,234],0.046,[247,234,269,85,234,234,236,236,234],[250,234,269,1049,236,234,236,236,234],0.048,[256,234,269,928,236,234,236,236,234],[234,234,272,1052,236,234,236,236,234],6.151,[238,234,272,925,236,234,236,236,234],[241,234,272,1055,236,234,236,236,234],0.038,[244,234,272,938,236,234,236,236,234],[247,234,272,85,234,234,236,236,234],[250,234,272,1018,236,234,236,236,234],[256,234,272,956,236,234,236,236,234],[234,234,275,1061,236,234,236,236,234],9.032,[238,234,275,1063,236,234,236,236,234],0.11,[241,234,275,611,236,234,236,236,234],[244,234,275,1063,236,234,236,236,234],[247,234,275,1067,236,234,236,236,234],3.584,[250,234,275,1069,236,234,236,236,234],0.152,[256,234,275,1024,236,234,236,236,234],[234,234,278,1072,236,234,236,236,234],19.952,[238,234,278,1074,236,234,236,236,234],0.162,[241,234,278,726,236,234,236,236,234],[244,234,278,1077,236,234,236,236,234],0.462,[247,234,278,85,234,234,236,236,234],[250,234,278,1080,236,234,236,236,234],0.356,[256,234,278,1082,236,234,236,236,234],0.032,[234,234,282,1084,236,234,236,236,234],16.781,[238,234,282,980,236,234,236,236,234],[241,234,282,1011,236,234,236,236,234],[244,234,282,1018,236,234,236,236,234],[247,234,282,1089,236,234,236,236,234],0.563,[250,234,282,934,236,234,236,236,234],[256,234,282,1092,236,234,236,236,234],0.026,[234,234,287,1094,236,234,236,236,234],15.012,[238,234,287,1096,236,234,236,236,234],0.051,[241,234,287,1098,236,234,236,236,234],0.04,[244,234,287,1100,236,234,236,236,234],0.059,[247,234,287,85,234,234,236,236,234],[250,234,287,1103,236,234,236,236,234],0.053,[256,234,287,1046,236,234,236,236,234],[234,238,290,1106,236,238,236,236,238],7.416,[238,238,290,1108,236,238,236,236,238],0.097,[241,238,290,1110,236,238,236,236,238],0.151,[244,238,290,1112,236,238,236,236,238],0.278,[247,238,290,1114,236,238,236,236,238],1.928,[250,238,290,1116,236,238,236,236,238],0.137,[261,238,290,1096,236,238,236,236,238],[264,238,290,936,236,238,236,236,238],[267,238,290,1120,236,238,236,236,238],0.089,[256,238,290,1122,236,238,236,236,238],0.045,[1124],"failed (system totally failed, marked x)",[840,1126],"Table II (Average row); text Sec. IX-B states 0.044 m for Ours",[],[],[1130,1131],"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":1133,"group":1134,"sourceId":1135,"sourceLabel":1136,"table":1137,"selfRows":293,"metrics":1138,"seqs":1143,"entrants":1164,"cells":1173,"outcomes":1304,"locators":1306,"hardware":1307,"wordings":1308,"notes":1309},"fastlivo2rc2025-table-i","fastlivo2rc2025:Table I","fastlivo2rc2025","Zhou et al., 2025","Table I",[1139,1141],{"label":1140,"unit":157,"statistic":844,"alignment":86},"ATE (RMSE)",{"label":1142,"unit":157,"statistic":844,"alignment":86},"ATE (RMSE), Average",[1144,1145,1146,1147,1148,1149,1150,1151,1152,1153,1154,1155,1156,1157,1158,1159,1160],{"dataset":849,"sequence":850,"environment":851},{"dataset":849,"sequence":853,"environment":851},{"dataset":849,"sequence":855,"environment":856},{"dataset":849,"sequence":858,"environment":859},{"dataset":849,"sequence":861,"environment":862},{"dataset":849,"sequence":864,"environment":865},{"dataset":849,"sequence":867,"environment":868},{"dataset":849,"sequence":870,"environment":871},{"dataset":873,"sequence":874,"environment":875},{"dataset":873,"sequence":877,"environment":875},{"dataset":873,"sequence":879,"environment":875},{"dataset":873,"sequence":881,"environment":882},{"dataset":873,"sequence":884,"environment":885},{"dataset":873,"sequence":887,"environment":888},{"dataset":873,"sequence":890,"environment":891},{"dataset":873,"sequence":893,"environment":894},{"dataset":1161,"sequence":1162,"environment":1163},"Hilti'22 and Hilti'23","Average (16 sequences)","construction sites, offices, basements",[1165,1166,1168,1169,1170,1171,1172],{"name":910,"methodId":1135,"linkable":218,"proposed":218,"self":76},{"name":1167,"methodId":838,"linkable":218,"proposed":76,"self":76},"FAST-LIVO2",{"name":584,"methodId":228,"linkable":218,"proposed":76,"self":76},{"name":224,"methodId":225,"linkable":218,"proposed":76,"self":76},{"name":906,"methodId":519,"linkable":218,"proposed":76,"self":76},{"name":901,"methodId":85,"linkable":76,"proposed":76,"self":76},{"name":7,"methodId":5,"linkable":218,"proposed":76,"self":218},[1174,1175,1176,1177,1178,1179,1180,1181,1182,1183,1184,1185,1186,1187,1188,1189,1190,1191,1192,1193,1194,1195,1197,1198,1199,1200,1201,1202,1203,1204,1205,1206,1207,1208,1209,1210,1211,1212,1213,1214,1215,1216,1217,1219,1220,1221,1222,1223,1224,1225,1226,1227,1228,1229,1230,1231,1232,1233,1234,1235,1236,1237,1238,1239,1240,1241,1242,1243,1244,1245,1246,1247,1248,1249,1250,1251,1252,1253,1254,1255,1256,1257,1258,1259,1260,1262,1263,1264,1265,1266,1267,1268,1270,1271,1272,1273,1274,1275,1276,1277,1278,1279,1280,1281,1282,1283,1284,1285,1286,1287,1288,1289,1290,1292,1294,1296,1298,1300,1302],[234,234,234,930,236,234,236,236,234],[238,234,234,930,236,234,236,236,234],[241,234,234,923,236,234,236,236,234],[244,234,234,928,236,234,236,236,234],[247,234,234,925,236,234,236,236,234],[250,234,234,919,236,234,236,236,234],[256,234,234,85,234,234,236,236,234],[234,234,238,1038,236,234,236,236,234],[238,234,238,943,236,234,236,236,234],[241,234,238,936,236,234,236,236,234],[244,234,238,941,236,234,236,236,234],[247,234,238,938,236,234,236,236,234],[250,234,238,932,236,234,236,236,234],[256,234,238,85,234,234,236,236,234],[234,234,241,611,236,234,236,236,234],[238,234,241,956,236,234,236,236,234],[241,234,241,726,236,234,236,236,234],[244,234,241,954,236,234,236,236,234],[247,234,241,950,236,234,236,236,234],[250,234,241,945,236,234,236,236,234],[256,234,241,952,236,234,236,236,234],[234,234,244,1196,236,234,236,236,234],0.054,[238,234,244,969,236,234,236,236,234],[241,234,244,962,236,234,236,236,234],[244,234,244,967,236,234,236,236,234],[247,234,244,960,236,234,236,236,234],[250,234,244,958,236,234,236,236,234],[256,234,244,965,236,234,236,236,234],[234,234,247,630,236,234,236,236,234],[238,234,247,980,236,234,236,236,234],[241,234,247,627,236,234,236,236,234],[244,234,247,978,236,234,236,236,234],[247,234,247,975,236,234,236,236,234],[250,234,247,971,236,234,236,236,234],[256,234,247,85,234,234,236,236,234],[234,234,250,1024,236,234,236,236,234],[238,234,250,992,236,234,236,236,234],[241,234,250,938,236,234,236,236,234],[244,234,250,928,236,234,236,236,234],[247,234,250,987,236,234,236,236,234],[250,234,250,982,236,234,236,236,234],[256,234,250,989,236,234,236,236,234],[234,234,256,1218,236,234,236,236,234],0.18,[238,234,256,1005,236,234,236,236,234],[241,234,256,998,236,234,236,236,234],[244,234,256,1003,236,234,236,236,234],[247,234,256,1000,236,234,236,236,234],[250,234,256,994,236,234,236,236,234],[256,234,256,85,234,234,236,236,234],[234,234,261,1042,236,234,236,236,234],[238,234,261,1018,236,234,236,236,234],[241,234,261,1011,236,234,236,236,234],[244,234,261,941,236,234,236,236,234],[247,234,261,1013,236,234,236,236,234],[250,234,261,1007,236,234,236,236,234],[256,234,261,1015,236,234,236,236,234],[234,234,264,1082,236,234,236,236,234],[238,234,264,925,236,234,236,236,234],[241,234,264,934,236,234,236,236,234],[244,234,264,928,236,234,236,236,234],[247,234,264,938,236,234,236,236,234],[250,234,264,1020,236,234,236,236,234],[256,234,264,85,234,234,236,236,234],[234,234,267,1024,236,234,236,236,234],[238,234,267,1038,236,234,236,236,234],[241,234,267,934,236,234,236,236,234],[244,234,267,928,236,234,236,236,234],[247,234,267,938,236,234,236,236,234],[250,234,267,1029,236,234,236,236,234],[256,234,267,1035,236,234,236,236,234],[234,234,269,1055,236,234,236,236,234],[238,234,269,928,236,234,236,236,234],[241,234,269,1044,236,234,236,236,234],[244,234,269,1049,236,234,236,236,234],[247,234,269,1046,236,234,236,236,234],[250,234,269,1040,236,234,236,236,234],[256,234,269,85,234,234,236,236,234],[234,234,272,938,236,234,236,236,234],[238,234,272,956,236,234,236,236,234],[241,234,272,1055,236,234,236,236,234],[244,234,272,1018,236,234,236,236,234],[247,234,272,938,236,234,236,236,234],[250,234,272,1052,236,234,236,236,234],[256,234,272,85,234,234,236,236,234],[234,234,275,1261,236,234,236,236,234],0.012,[238,234,275,1024,236,234,236,236,234],[241,234,275,611,236,234,236,236,234],[244,234,275,1069,236,234,236,236,234],[247,234,275,1063,236,234,236,236,234],[250,234,275,1061,236,234,236,236,234],[256,234,275,1067,236,234,236,236,234],[234,234,278,1269,236,234,236,236,234],0.095,[238,234,278,1082,236,234,236,236,234],[241,234,278,726,236,234,236,236,234],[244,234,278,1080,236,234,236,236,234],[247,234,278,1077,236,234,236,236,234],[250,234,278,1072,236,234,236,236,234],[256,234,278,85,234,234,236,236,234],[234,234,282,1011,236,234,236,236,234],[238,234,282,1092,236,234,236,236,234],[241,234,282,1011,236,234,236,236,234],[244,234,282,934,236,234,236,236,234],[247,234,282,1018,236,234,236,236,234],[250,234,282,1084,236,234,236,236,234],[256,234,282,1089,236,234,236,236,234],[234,234,287,936,236,234,236,236,234],[238,234,287,1046,236,234,236,236,234],[241,234,287,1098,236,234,236,236,234],[244,234,287,1103,236,234,236,236,234],[247,234,287,1100,236,234,236,236,234],[250,234,287,1094,236,234,236,236,234],[256,234,287,85,234,234,236,236,234],[234,238,290,1291,236,234,236,236,238],0.063,[238,238,290,1293,236,234,236,236,238],0.034,[241,238,290,1295,236,234,236,236,238],0.138,[244,238,290,1297,236,234,236,236,238],0.123,[247,238,290,1299,236,234,236,236,238],0.391,[250,238,290,1301,236,234,236,236,238],11.347,[256,238,290,1303,236,234,236,236,238],4.502,[1305],"failed (x)",[1137],[],[],[1310,1311],"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)",[1313,1320,1327,1332,1338,1346,1352,1359,1364,1371,1377,1382,1389,1396,1401,1405],{"group":1314,"slug":1315,"sourceLabel":1316,"table":1317,"selfRows":287,"datasets":1318},"chen2025geode:Table 5","chen2025geode-table-5","Chen et al., 2025b","Table 5",[1319],"GEODE",{"group":1321,"slug":1322,"sourceLabel":1323,"table":1324,"selfRows":282,"datasets":1325},"gslivm2025:Supp. Table 7","gslivm2025-supp-table-7","Xie et al., 2025","Supp. Table 7",[1326],"Botanic Garden",{"group":1328,"slug":1329,"sourceLabel":6,"table":1137,"selfRows":275,"datasets":1330},"lvisam2021:Table I","lvisam2021-table-i",[1331],"Urban (authors' data)",{"group":1333,"slug":1334,"sourceLabel":6,"table":840,"selfRows":275,"datasets":1335},"lvisam2021:Table II","lvisam2021-table-ii",[1336,1337],"Handheld (authors' data)","Jackal (authors' data)",{"group":1339,"slug":1340,"sourceLabel":1341,"table":840,"selfRows":269,"datasets":1342},"gslivo2025:Table II","gslivo2025-table-ii","Hong et al., 2025",[1343,1344,1345],"MARS-LVIG","Oxford Spires","proprietary (MoCap)",{"group":1347,"slug":1348,"sourceLabel":1349,"table":840,"selfRows":269,"datasets":1350},"maplab2_2023:Table II","maplab2-2023-table-ii","Cramariuc et al., 2023",[1351],"HILTI 2021 SLAM Dataset",{"group":1353,"slug":1354,"sourceLabel":1355,"table":1356,"selfRows":267,"datasets":1357},"yan2026tunnel:Table 1","yan2026tunnel-table-1","Yan et al., 2026a","Table 1",[1358],"Kimera-Multi Campus-Tunnel (KMCT)",{"group":1360,"slug":1361,"sourceLabel":1355,"table":1317,"selfRows":267,"datasets":1362},"yan2026tunnel:Table 5","yan2026tunnel-table-5",[1358,1363],"WHU-Helmet (WHUH)",{"group":1365,"slug":1366,"sourceLabel":1367,"table":1368,"selfRows":256,"datasets":1369},"clic2023:Table VII","clic2023-table-vii","Lv et al., 2023","Table VII",[1370],"CLIC Vicon Room dataset (authors)",{"group":1372,"slug":1373,"sourceLabel":1367,"table":1374,"selfRows":247,"datasets":1375},"clic2023:Table V","clic2023-table-v","Table V",[1376],"LVI-SAM dataset",{"group":1378,"slug":1379,"sourceLabel":839,"table":152,"selfRows":247,"datasets":1380},"fastlivo2_2025:Table III","fastlivo2-2025-table-iii",[849,1381],"Hilti'22, Hilti'23, NTU-VIRAL, FAST-LIVO2 private",{"group":1383,"slug":1384,"sourceLabel":1385,"table":1386,"selfRows":244,"datasets":1387},"cocolic2023:Table IV","cocolic2023-table-iv","Lang et al., 2023","Table 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