[{"data":1,"prerenderedAt":1174},["ShallowReactive",2],{"method-r2live2021":3},{"method":4,"reference":61,"equipment":82,"figures":122,"results":152},{"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":23,"limitations":29,"sensors":34,"platform":39,"estimator":41,"association":42,"timeModel":43,"deskew":44,"loopClosure":45,"globalOptimization":46,"mapRepresentation":47,"prior":48,"outputGeometry":49,"compute":50,"codeUrl":51,"codeLicense":52,"relatedVersions":53},"r2live2021","Lin et al., 2021","R2LIVE","R$^2$LIVE: A Robust, Real-Time, LiDAR-Inertial-Visual Tightly-Coupled State Estimator and Mapping",2021,"recent","C07","odometry_with_local_mapping","R2LIVE 在單一誤差狀態迭代卡爾曼濾波器（ESIKF）中，同時以光達平面特徵的點到平面殘差與視覺角點的重投影誤差更新狀態，達成高頻率的緊密耦合里程計。另以滑動視窗因子圖最佳化精修影像關鍵影格位姿與視覺地標，並線上估計相機與 IMU 間的時間偏移。作者以手持裝置在長隧道狀的地鐵站與大型建物內外展示可重建稠密點雲。","An ESIKF that fuses LiDAR point-to-plane and visual reprojection residuals at their own rates, complemented by a sliding-window factor graph that refines visual landmarks and keyframe poses.","full_text_reviewed","peer_reviewed_published","background","作者在香港大學地鐵站（最長約 190 m 狹長隧道狀通道、行人眾多）與香港大學主建物內外（完工建物）測試，屬地下或隧道狀空間與既有建物情境，但僅以街道圖與衛星影像定性比對，並非營建工地，亦無工程幾何精度評估（Sec. VI-C, VI-D）。",[20,21,22],"underground_or_tunnel","completed_building","independent_reference",[24,25,26,27,28],"Survives aggressive motion up to about 300 deg\u002Fs and intentional blocking of either camera or LiDAR (Sec. VI-B, Figs. 7-8)","Completed a 190 m narrow tunnel-like MTR station with moving pedestrians where VINS-Mono stopped; in the version of record Fast-LIO and the R2LIVE LiDAR-inertial and visual-inertial subsystems drift significantly there (Sec. VI-C, Fig. 9)","Five HKU main-building loops of about 900 m each return to the start without loop closure (VoR Sec. VI-D, Fig. 11)","Lowest RTE at every sub-sequence length of both D-GPS sequences against VINS-Mono, Fast-LIO and CamVox (e.g., 0.24 % and 0.12 % over 300 m) (VoR Table I)","Real-time on an embedded i7-8550U computer (VoR Table II)",[30,31,32,33],"Assumes LiDAR-IMU extrinsic and all sensor time offsets are pre-calibrated in the filter (Sec. IV-B)","No loop closure or global optimization (Sec. V, VI-D)","Accuracy evaluated by relative pose error against D-GPS RTK on two sequences plus qualitative overlays on a station map and a satellite image; no point-cloud accuracy metric (inference from Sec. VI)","Rotation error is not uniformly lowest: VINS-Mono has 0.24 deg vs 0.25 deg at 50 m in sequence (a) (VoR Table I)",[35,36,37,38],"3D LiDAR (Livox AVIA, FoV 70.4 x 77.2 deg)","IMU (model not reported; 200 Hz in the Fig. 3 illustration)","monocular global-shutter camera (FLIR Blackfly BFS-u3-13y3c, FoV 82.9 x 66.5 deg; model named only in the version of record)","D-GPS RTK system (reference only; footnote links the DJI D-RTK product page)",[40],"handheld","on-manifold error-state iterated Kalman filter fusing LiDAR and visual measurements, plus sliding-window factor graph refining image keyframe poses and visual landmarks (LiDAR poses fixed)","LiDAR planar feature points, point-to-plane residual against nearest map points (LOAM\u002FFAST-LIO style); FAST corners tracked by KLT optical flow with PnP reprojection residuals to triangulated landmarks","discrete poses; IMU-rate propagation; camera-IMU time offset calibrated in factor graph","in-frame motion compensated by IMU backward propagation as in FAST-LIO (Sec. IV-B)","none (Sec. VI-D notes loop returned without loop closure)","none; only local sliding-window factor graph for visual landmarks","point cloud map (LiDAR frames appended after update) plus sparse visual landmarks","none","dense 3D point cloud map of building interiors and exteriors (Fig. 1, Fig. 12); RGB coloring not described","real-time on a desktop i7-9700K (32 GB RAM) and the onboard DJI Manifold-2C (i7-8550U, 8 GB RAM): average LI-Odom 8.81 to 14.91 ms on PC and 15.98 to 30.64 ms onboard, VI-Odom 7.84 to 9.57 ms and 13.92 to 20.16 ms, factor graph 26.10 to 30.20 ms and 45.35 to 65.25 ms (VoR Table II; arXiv v1 Table I)","https:\u002F\u002Fgithub.com\u002Fhku-mars\u002Fr2live","GPLv2 (stated in README)",[54,58],{"relation":55,"title":56,"doi_or_url":57},"preprint","R2LIVE arXiv v1 (2021-02-24)","https:\u002F\u002Farxiv.org\u002Fabs\u002F2102.12400",{"relation":59,"title":60,"doi_or_url":51},"code_release","hku-mars\u002Fr2live",{"id":5,"kind":62,"shortName":7,"title":8,"authors":63,"year":9,"venue":68,"venueType":69,"publisher":70,"volumeIssuePages":71,"doi":72,"arxivId":73,"url":57,"firstPublicDate":74,"publicationStatus":16,"metadataStatus":75,"fulltextStatus":15,"era":10,"classicReason":76,"codeUrl":51,"cluster":11,"topics":77,"mdpi":78,"verification":79,"label":6,"fulltextRoute":80,"versionRead":81,"addedByCensus":78},"method",[64,65,66,67],"Jiarong Lin","Chunran Zheng","Wei Xu","Fu Zhang","IEEE Robotics and Automation Letters","journal","IEEE","6(4): 7469-7476","10.1109\u002Flra.2021.3095515","2102.12400","2021-02-24","metadata_verified","not_applicable",[11],false,"corrected","NTU institutional (curl)","IEEE RA-L version of record 6(4):7469-7476 (typeset PDF via NTU institutional access), read in full; arXiv 2102.12400 v1 (2021-02-24, incl. appendix and supplementary material) also read in full and compared. Results are taken from the version of record, whose experiments differ from arXiv v1.",[83,91,95,100,107,111,117],{"category":84,"model":85,"canonical":86,"role":87,"dataset":88,"specs":89,"locator":90},"lidar","LiVOX AVIA","Livox Avia","method input",null,"FoV 70.4 x 77.2 deg","VoR Sec. VI-A",{"category":92,"model":93,"canonical":93,"role":87,"dataset":88,"specs":94,"locator":90},"camera","FLIR Blackfly BFS-u3-13y3c global shutter camera","FoV 82.9 x 66.5 deg (model named only in the version of record)",{"category":96,"model":97,"canonical":97,"role":87,"dataset":88,"specs":98,"locator":99},"imu","IMU (model not reported)","200 Hz in the input-sequence illustration (Fig. 3)","Fig. 3",{"category":101,"model":102,"canonical":103,"role":104,"dataset":88,"specs":105,"locator":106},"compute","DJI manifold-2c computation platform (Intel i7-8550 u CPU, 8 GB RAM)","DJI manifold-2c computation platform (Intel i7-8550u CPU, 8 GB RAM)","compute for runtime","onboard runtime platform","VoR Sec. VI-A; Table II",{"category":101,"model":108,"canonical":108,"role":104,"dataset":88,"specs":109,"locator":110},"desktop PC, Intel i7-9700K CPU, 32 GB RAM","not_reported","VoR Table II",{"category":112,"model":113,"canonical":113,"role":114,"dataset":88,"specs":115,"locator":116},"gnss","D-GPS RTK system (footnote links DJI D-RTK)","reference or ground truth","base station and mobile station labelled in arXiv v1 Fig. 6 (b) ('D-GPS RTK based station', 'D-GPS RTK mobile station'); the system is installed on the device (VoR Sec. VI-A)","VoR Sec. VI-A; Fig. 6 (b); Sec. VI-E; arXiv v1 Fig. 6",{"category":118,"model":119,"canonical":119,"role":87,"dataset":88,"specs":120,"locator":121},"platform","handheld device with power supply","total weight 2.09 kg (minimum system)","Fig. 6 caption",[123,136,144],{"refId":5,"refLabel":6,"fig":124,"whatZh":125,"license":126,"licenseUrl":127,"sourceUrl":128,"src":129,"width":130,"height":131,"thumb":132,"thumbWidth":133,"thumbHeight":134,"modified":135},"Fig. 1","以 R2LIVE 即時重建的香港大學主建物大尺度室內外稠密點雲，綠線為軌跡，點依高度著色","CC BY 4.0 (arXiv v1 per abs page); RA-L version of record (c) 2021 IEEE","http:\u002F\u002Fcreativecommons.org\u002Flicenses\u002Fby\u002F4.0\u002F","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2102.12400v1\u002Fcover_v3_com.png","\u002Ffigure-files\u002Fr2live2021\u002Ffig-1.webp",1400,770,"\u002Ffigure-files\u002Fr2live2021\u002Ffig-1.thumb.webp",480,264,"resized to at most 1400 px wide and converted to WebP",{"refId":5,"refLabel":6,"fig":137,"whatZh":138,"license":126,"licenseUrl":127,"sourceUrl":139,"src":140,"width":130,"height":141,"thumb":142,"thumbWidth":133,"thumbHeight":143,"modified":135},"Fig. 6","手持資料收集裝置（Livox AVIA、全域快門相機、機上電腦與電池），以及評估用的 D-GPS RTK","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2102.12400v1\u002FEquip_com.png","\u002Ffigure-files\u002Fr2live2021\u002Ffig-6.webp",537,"\u002Ffigure-files\u002Fr2live2021\u002Ffig-6.thumb.webp",184,{"refId":5,"refLabel":6,"fig":145,"whatZh":146,"license":126,"licenseUrl":127,"sourceUrl":147,"src":148,"width":130,"height":149,"thumb":150,"thumbWidth":133,"thumbHeight":151,"modified":135},"Fig. 7","劇烈運動與刻意遮擋相機或光達的穩健性測試情境","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2102.12400v1\u002Fexperi_1_block_v2_com.png","\u002Ffigure-files\u002Fr2live2021\u002Ffig-7.webp",358,"\u002Ffigure-files\u002Fr2live2021\u002Ffig-7.thumb.webp",123,{"totalRows":153,"groupCount":154,"groups":155,"others":1154},110,7,[156,546,788,881],{"slug":157,"group":158,"sourceId":159,"sourceLabel":160,"table":161,"selfRows":162,"metrics":163,"seqs":167,"entrants":222,"cells":239,"outcomes":505,"locators":506,"hardware":508,"wordings":509,"notes":544},"r3livepp2024-table-iii","r3livepp2024:Table III","r3livepp2024","Lin & Zhang, 2024","Table III",26,[164],{"label":165,"unit":166,"statistic":109,"alignment":109},"APE (m)","m",[168,172,174,176,178,180,182,184,186,188,190,192,194,196,198,200,202,204,206,208,210,212,214,216,218,220],{"dataset":169,"sequence":170,"environment":171},"NCLT","2012-01-08 (6495.7 m, 01:25:35)","University of Michigan North Campus, indoor and outdoor, all seasons (Segway robot)",{"dataset":169,"sequence":173,"environment":171},"2012-01-15 (7499.8 m, 01:52:19)",{"dataset":169,"sequence":175,"environment":171},"2012-01-22 (6183.1 m, 01:27:22)",{"dataset":169,"sequence":177,"environment":171},"2012-02-02 (6315.8 m, 01:38:36)",{"dataset":169,"sequence":179,"environment":171},"2012-02-04 (5641.0 m, 01:18:30)",{"dataset":169,"sequence":181,"environment":171},"2012-02-05 (6649.3 m, 01:34:17)",{"dataset":169,"sequence":183,"environment":171},"2012-02-12 (5829.1 m, 01:25:35)",{"dataset":169,"sequence":185,"environment":171},"2012-02-18 (6249.2 m, 01:29:55)",{"dataset":169,"sequence":187,"environment":171},"2012-02-19 (6232.7 m, 01:29:11)",{"dataset":169,"sequence":189,"environment":171},"2012-03-17 (5907.2 m, 01:22:53)",{"dataset":169,"sequence":191,"environment":171},"2012-03-31 (6073.7 m, 01:27:53)",{"dataset":169,"sequence":193,"environment":171},"2012-04-29 (3183.1 m, 00:43:18)",{"dataset":169,"sequence":195,"environment":171},"2012-05-11 (6116.7 m, 01:25:05)",{"dataset":169,"sequence":197,"environment":171},"2012-05-26 (6340.7 m, 01:28:34)",{"dataset":169,"sequence":199,"environment":171},"2012-06-15 (4085.9 m, 00:55:10)",{"dataset":169,"sequence":201,"environment":171},"2012-08-04 (5492.1 m, 01:20:32)",{"dataset":169,"sequence":203,"environment":171},"2012-08-20 (6014.5 m, 01:23:48)",{"dataset":169,"sequence":205,"environment":171},"2012-09-28 (5574.4 m, 01:17:59)",{"dataset":169,"sequence":207,"environment":171},"2012-10-28 (5682.1 m, 01:26:10)",{"dataset":169,"sequence":209,"environment":171},"2012-11-04 (4788.3 m, 01:20:39)",{"dataset":169,"sequence":211,"environment":171},"2012-11-17 (5751.9 m, 01:29:44)",{"dataset":169,"sequence":213,"environment":171},"2012-12-01 (4991.9 m, 01:16:48)",{"dataset":169,"sequence":215,"environment":171},"2013-01-10 (1137.3 m, 00:17:04)",{"dataset":169,"sequence":217,"environment":171},"2013-02-23 (5235.3 m, 01:20:08)",{"dataset":169,"sequence":219,"environment":171},"2013-04-05 (4523.7 m, 01:09:27)",{"dataset":169,"sequence":221,"environment":171},"Average",[223,226,227,230,233,236],{"name":224,"methodId":159,"linkable":225,"proposed":225,"self":78},"Our (R3LIVE++)",true,{"name":7,"methodId":5,"linkable":225,"proposed":78,"self":225},{"name":228,"methodId":229,"linkable":225,"proposed":78,"self":78},"LVI-SAM","lvisam2021",{"name":231,"methodId":232,"linkable":225,"proposed":78,"self":78},"FAST-LIVO","fastlivo2022",{"name":234,"methodId":235,"linkable":225,"proposed":78,"self":78},"Fast-LIO2","fastlio2_2022",{"name":237,"methodId":238,"linkable":225,"proposed":78,"self":78},"LIO-SAM","liosam2020",[240,244,247,250,253,256,259,262,264,267,269,271,273,276,279,282,284,287,290,293,294,297,299,301,304,307,309,311,313,315,317,319,321,324,326,328,331,332,334,337,340,343,345,346,347,349,351,353,354,355,357,358,359,361,363,365,366,368,370,372,374,376,378,379,381,382,384,386,388,390,391,393,394,396,397,399,401,402,405,406,407,409,411,413,414,415,416,417,420,421,422,424,425,426,428,429,430,432,433,435,437,438,439,440,441,443,445,447,449,451,452,454,455,457,458,460,462,464,466,469,470,471,472,473,474,475,476,478,479,481,482,483,485,487,488,490,491,493,494,495,496,497,499,500,502,503],[241,241,241,242,243,241,243,241,241],0,10.8,-1,[245,241,241,246,243,241,243,245,241],1,22.4,[248,241,241,249,243,241,243,248,241],2,23.4,[251,241,241,252,243,241,243,251,241],3,13.4,[254,241,241,255,243,241,243,254,241],4,18.5,[257,241,241,258,243,241,243,257,241],5,21.7,[241,241,245,260,243,241,243,261,241],6.6,6,[245,241,245,263,243,241,243,154,241],5.1,[251,241,245,265,243,241,243,266,241],8.5,8,[254,241,245,268,243,241,243,154,241],4.8,[241,241,248,270,243,241,243,266,241],9.2,[245,241,248,272,243,241,243,241,241],12.6,[248,241,248,274,243,241,243,275,241],8.3,9,[251,241,248,277,243,241,243,278,241],14.1,10,[254,241,248,280,243,241,243,281,241],7.1,11,[257,241,248,275,243,241,243,283,241],12,[241,241,251,285,243,241,243,286,241],5.3,13,[245,241,251,288,243,241,243,289,241],6.1,14,[248,241,251,291,243,241,243,292,241],18.1,15,[251,241,251,283,243,241,243,266,241],[254,241,251,295,243,241,243,296,241],9.1,16,[257,241,251,298,243,241,243,283,241],15.6,[241,241,254,300,243,241,243,261,241],5.6,[245,241,254,302,243,241,243,303,241],8.4,17,[248,241,254,305,243,241,243,306,241],9.6,18,[251,241,254,308,243,241,243,261,241],6.2,[254,241,254,310,243,241,243,261,241],7.2,[257,241,254,242,243,241,243,312,241],19,[241,241,257,265,243,241,243,314,241],20,[245,241,257,316,243,241,243,289,241],7.6,[251,241,257,318,243,241,243,303,241],8.2,[254,241,257,320,243,241,243,292,241],7.8,[241,241,261,322,243,241,243,323,241],4.5,21,[245,241,261,325,243,241,243,303,241],6.5,[248,241,261,327,243,241,243,251,241],40,[251,241,261,329,243,241,243,330,241],16.4,22,[254,241,261,274,243,241,243,283,241],[257,241,261,333,243,241,243,275,241],45,[241,241,154,335,243,241,243,336,241],40.5,23,[245,241,154,338,243,241,243,339,241],59.3,24,[251,241,154,341,243,241,243,342,241],43,25,[254,241,154,344,243,241,243,162,241],57,[241,241,266,265,243,241,243,289,241],[245,241,266,260,243,241,243,323,241],[248,241,266,348,243,241,243,281,241],8.9,[251,241,266,350,243,241,243,314,241],8.6,[254,241,266,261,243,241,243,352,241],27,[257,241,266,305,243,241,243,261,241],[241,241,275,268,243,241,243,261,241],[245,241,275,356,243,241,243,289,241],5.9,[248,241,275,272,243,241,243,261,241],[251,241,275,285,243,241,243,281,241],[254,241,275,360,243,241,243,261,241],4.7,[257,241,275,362,243,241,243,261,241],11.8,[241,241,278,364,243,241,243,281,241],4.9,[245,241,278,278,243,241,243,266,241],[248,241,278,312,243,241,243,367,241],28,[251,241,278,369,243,241,243,289,241],5.2,[254,241,278,371,243,241,243,296,241],7.3,[257,241,278,373,243,241,243,367,241],18.3,[241,241,281,375,243,241,243,303,241],6.3,[245,241,281,377,243,241,243,289,241],6.4,[248,241,281,356,243,241,243,283,241],[251,241,281,380,243,241,243,303,241],7.7,[254,241,281,377,243,241,243,289,241],[257,241,281,383,243,241,243,303,241],5.7,[241,241,283,385,243,241,243,323,241],3.7,[245,241,283,387,243,241,243,323,241],3.8,[248,241,283,389,243,241,243,251,241],4.2,[251,241,283,364,243,241,243,281,241],[254,241,283,392,243,241,243,286,241],4.1,[257,241,283,389,243,241,243,251,241],[241,241,286,395,243,241,243,323,241],4.6,[245,241,286,375,243,241,243,281,241],[248,241,286,373,243,241,243,398,241],29,[251,241,286,400,243,241,243,314,241],7.4,[254,241,286,377,243,241,243,281,241],[257,241,286,403,243,241,243,404,241],18.4,30,[241,241,289,380,243,241,243,314,241],[245,241,289,375,243,241,243,261,241],[251,241,289,408,243,241,243,314,241],7.9,[254,241,289,285,243,241,243,410,241],31,[241,241,292,412,243,241,243,410,241],3.9,[245,241,292,385,243,241,243,410,241],[248,241,292,281,243,241,243,257,241],[251,241,292,257,243,241,243,154,241],[254,241,292,154,243,241,243,314,241],[257,241,292,418,243,241,243,419,241],12.7,32,[241,241,296,322,243,241,243,261,241],[245,241,296,322,243,241,243,261,241],[248,241,296,423,243,241,243,261,241],11.2,[251,241,296,257,243,241,243,281,241],[254,241,296,261,243,241,243,261,241],[257,241,296,427,243,241,243,261,241],11.4,[241,241,303,408,243,241,243,261,241],[245,241,303,260,243,241,243,286,241],[248,241,303,431,243,241,243,286,241],34.4,[251,241,303,350,243,241,243,323,241],[254,241,303,434,243,241,243,292,241],10.4,[257,241,303,436,243,241,243,261,241],36.7,[241,241,306,380,243,241,243,289,241],[245,241,306,266,243,241,243,289,241],[251,241,306,266,243,241,243,289,241],[254,241,306,380,243,241,243,289,241],[241,241,312,442,243,241,243,241,241],7.5,[245,241,312,444,243,241,243,278,241],9.3,[248,241,312,446,243,241,243,278,241],3.4,[251,241,312,448,243,241,243,275,241],8.1,[254,241,312,450,243,241,243,154,241],3.3,[257,241,312,446,243,241,243,275,241],[241,241,314,453,243,241,243,314,241],8.7,[245,241,314,325,243,241,243,286,241],[248,241,314,456,243,241,243,286,241],21.9,[251,241,314,318,243,241,243,292,241],[254,241,314,459,243,241,243,323,241],5.8,[257,241,314,461,243,241,243,292,241],24.2,[241,241,323,463,243,241,243,303,241],11.3,[245,241,323,465,243,241,243,292,241],14.2,[248,241,323,467,243,241,243,468,241],6.9,33,[251,241,323,362,243,241,243,303,241],[254,241,323,400,243,241,243,281,241],[257,241,323,310,243,241,243,241,241],[241,241,330,446,243,241,243,323,241],[245,241,330,395,243,241,243,281,241],[248,241,330,364,243,241,243,261,241],[251,241,330,385,243,241,243,286,241],[254,241,330,477,243,241,243,323,241],3.5,[257,241,330,263,243,241,243,281,241],[241,241,336,480,243,241,243,281,241],11.6,[245,241,336,252,243,241,243,314,241],[248,241,336,272,243,241,243,289,241],[251,241,336,484,243,241,243,289,241],12.2,[254,241,336,486,243,241,243,314,241],11.9,[257,241,336,484,243,241,243,330,241],[241,241,339,489,243,241,243,303,241],8.8,[245,241,339,486,243,241,243,283,241],[248,241,339,492,243,241,243,266,241],9.8,[251,241,339,434,243,241,243,292,241],[254,241,339,377,243,241,243,303,241],[257,241,339,275,243,241,243,266,241],[241,241,342,265,243,241,243,314,241],[245,241,342,498,243,241,243,296,241],10.6,[248,241,342,292,243,241,243,251,241],[251,241,342,501,243,241,243,292,241],10.3,[254,241,342,305,243,241,243,303,241],[257,241,342,504,243,241,243,278,241],15.4,[],[507],"VoR Table III",[],[510,511,512,513,514,515,516,517,518,519,520,521,522,523,524,525,526,527,528,529,530,531,532,533,534,535,536,537,538,539,540,541,542,543],"APE (m), printed with STD 2.7 m","APE (m), printed with STD 3.5 m","APE (m), printed with STD 3.7 m","APE (m), printed with STD 2.9 m","APE (m), printed with STD 3.3 m","APE (m), printed with STD 3.6 m","APE (m), printed with STD 1.8 m","APE (m), printed with STD 1.5 m","APE (m), printed with STD 2.5 m","APE (m), printed with STD 2.8 m","APE (m), printed with STD 3.0 m","APE (m), printed with STD 1.9 m","APE (m), printed with STD 2.6 m","APE (m), printed with STD 1.7 m","APE (m), printed with STD 2.0 m","APE (m), printed with STD 2.4 m","APE (m), printed with STD 2.3 m","APE (m), printed with STD 2.2 m","APE (m), printed with STD 5.0 m","APE (m), printed with STD 5.3 m","APE (m), printed with STD 2.1 m","APE (m), printed with STD 1.6 m","APE (m), printed with STD 3.4 m","APE (m), printed with STD 3.9 m","APE (m), printed with STD 4.8 m","APE (m), printed with STD 4.1 m","APE (m), printed with STD 4.6 m","APE (m), printed with STD 1.3 m","APE (m), printed with STD 3.2 m","APE (m), printed with STD 4.4 m","APE (m), printed with STD 4.5 m","APE (m), printed with STD 1.4 m","APE (m), printed with STD 3.8 m","APE (m), printed with STD 3.1 m",[545],"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":547,"group":548,"sourceId":5,"sourceLabel":6,"table":549,"selfRows":339,"metrics":550,"seqs":577,"entrants":604,"cells":614,"outcomes":781,"locators":782,"hardware":784,"wordings":785,"notes":786},"r2live2021-table-i","r2live2021:Table I","Table I",[551,554,557,559,561,563,565,567,569,571,573,575],{"label":552,"unit":553,"statistic":109,"alignment":109},"RRE (deg) over 50 m sub-sequences","deg",{"label":555,"unit":556,"statistic":109,"alignment":109},"RTE (%) over 50 m sub-sequences","%",{"label":558,"unit":553,"statistic":109,"alignment":109},"RRE (deg) over 100 m sub-sequences",{"label":560,"unit":556,"statistic":109,"alignment":109},"RTE (%) over 100 m sub-sequences",{"label":562,"unit":553,"statistic":109,"alignment":109},"RRE (deg) over 150 m sub-sequences",{"label":564,"unit":556,"statistic":109,"alignment":109},"RTE (%) over 150 m sub-sequences",{"label":566,"unit":553,"statistic":109,"alignment":109},"RRE (deg) over 200 m sub-sequences",{"label":568,"unit":556,"statistic":109,"alignment":109},"RTE (%) over 200 m sub-sequences",{"label":570,"unit":553,"statistic":109,"alignment":109},"RRE (deg) over 250 m sub-sequences",{"label":572,"unit":556,"statistic":109,"alignment":109},"RTE (%) over 250 m sub-sequences",{"label":574,"unit":553,"statistic":109,"alignment":109},"RRE (deg) over 300 m sub-sequences",{"label":576,"unit":556,"statistic":109,"alignment":109},"RTE (%) over 300 m sub-sequences",[578,582,584,586,588,590,592,594,596,598,600,602],{"dataset":579,"sequence":580,"environment":581},"R2LIVE Experiment-4 (authors' data, D-GPS RTK)","Experiment-4 (a), 50 m sub-sequences","outdoor handheld, fast rotation",{"dataset":579,"sequence":583,"environment":581},"Experiment-4 (a), 100 m sub-sequences",{"dataset":579,"sequence":585,"environment":581},"Experiment-4 (a), 150 m sub-sequences",{"dataset":579,"sequence":587,"environment":581},"Experiment-4 (a), 200 m sub-sequences",{"dataset":579,"sequence":589,"environment":581},"Experiment-4 (a), 250 m sub-sequences",{"dataset":579,"sequence":591,"environment":581},"Experiment-4 (a), 300 m sub-sequences",{"dataset":579,"sequence":593,"environment":581},"Experiment-4 (b), 50 m sub-sequences",{"dataset":579,"sequence":595,"environment":581},"Experiment-4 (b), 100 m sub-sequences",{"dataset":579,"sequence":597,"environment":581},"Experiment-4 (b), 150 m sub-sequences",{"dataset":579,"sequence":599,"environment":581},"Experiment-4 (b), 200 m sub-sequences",{"dataset":579,"sequence":601,"environment":581},"Experiment-4 (b), 250 m sub-sequences",{"dataset":579,"sequence":603,"environment":581},"Experiment-4 (b), 300 m sub-sequences",[605,608,611,613],{"name":606,"methodId":607,"linkable":225,"proposed":78,"self":78},"VINS-Mono","vinsmono2018",{"name":609,"methodId":610,"linkable":225,"proposed":78,"self":78},"Fast-Lio","fastlio2021",{"name":612,"methodId":88,"linkable":78,"proposed":78,"self":78},"Camvox",{"name":7,"methodId":5,"linkable":225,"proposed":225,"self":225},[615,617,619,621,623,625,627,629,631,633,635,637,639,641,643,645,647,649,651,653,655,657,659,661,663,665,667,669,671,673,675,676,678,680,682,684,686,687,689,690,692,694,696,697,698,699,701,703,704,706,708,709,711,713,715,716,718,719,721,723,725,727,729,731,732,733,735,736,738,739,740,741,743,744,746,748,750,752,754,756,758,759,761,762,764,766,768,770,771,773,774,775,776,777,778,779],[241,241,241,616,243,241,243,243,241],0.24,[241,245,241,618,243,241,243,243,241],12.67,[241,248,245,620,243,241,243,243,241],0.21,[241,251,245,622,243,241,243,243,241],7.12,[241,254,248,624,243,241,243,243,241],0.17,[241,257,248,626,243,241,243,243,241],4.3,[241,261,251,628,243,241,243,243,241],0.2,[241,154,251,630,243,241,243,243,241],3.24,[241,266,254,632,243,241,243,243,241],0.25,[241,275,254,634,243,241,243,243,241],3.09,[241,278,257,636,243,241,243,243,241],0.44,[241,281,257,638,243,241,243,243,241],3.76,[245,241,241,640,243,241,243,243,241],0.34,[245,245,241,642,243,241,243,243,241],2.82,[245,248,245,644,243,241,243,243,241],0.29,[245,251,245,646,243,241,243,243,241],1.34,[245,254,248,648,243,241,243,243,241],0.22,[245,257,248,650,243,241,243,243,241],0.81,[245,261,251,652,243,241,243,243,241],0.28,[245,154,251,654,243,241,243,243,241],0.5,[245,266,254,656,243,241,243,243,241],0.36,[245,275,254,658,243,241,243,243,241],0.45,[245,278,257,660,243,241,243,243,241],0.6,[245,281,257,662,243,241,243,243,241],0.33,[248,241,241,664,243,241,243,243,241],0.67,[248,245,241,666,243,241,243,243,241],27.53,[248,248,245,668,243,241,243,243,241],0.57,[248,251,245,670,243,241,243,243,241],14.42,[248,254,248,672,243,241,243,243,241],0.31,[248,257,248,674,243,241,243,243,241],5.67,[248,261,251,652,243,241,243,243,241],[248,154,251,677,243,241,243,243,241],4.05,[248,266,254,679,243,241,243,243,241],0.83,[248,275,254,681,243,241,243,243,241],3.74,[248,278,257,683,243,241,243,243,241],0.71,[248,281,257,685,243,241,243,243,241],3.26,[251,241,241,632,243,241,243,243,241],[251,245,241,688,243,241,243,243,241],1.4,[251,248,245,628,243,241,243,243,241],[251,251,245,691,243,241,243,243,241],0.74,[251,254,248,693,243,241,243,243,241],0.16,[251,257,248,695,243,241,243,243,241],0.43,[251,261,251,628,243,241,243,243,241],[251,154,251,644,243,241,243,243,241],[251,266,254,632,243,241,243,243,241],[251,275,254,700,243,241,243,243,241],0.3,[251,278,257,702,243,241,243,243,241],0.4,[251,281,257,616,243,241,243,243,241],[241,241,261,705,243,241,243,243,241],0.39,[241,245,261,707,243,241,243,243,241],13.19,[241,248,154,654,243,241,243,243,241],[241,251,154,710,243,241,243,243,241],12.33,[241,254,266,712,243,241,243,243,241],0.55,[241,257,266,714,243,241,243,243,241],3.61,[241,261,275,640,243,241,243,243,241],[241,154,275,717,243,241,243,243,241],4.49,[241,266,278,654,243,241,243,243,241],[241,275,278,720,243,241,243,243,241],1.92,[241,278,281,722,243,241,243,243,241],0.47,[241,281,281,724,243,241,243,243,241],2.77,[245,241,261,726,243,241,243,243,241],0.09,[245,245,261,728,243,241,243,243,241],1.39,[245,248,154,730,243,241,243,243,241],0.08,[245,251,154,245,243,241,243,243,241],[245,254,266,730,243,241,243,243,241],[245,257,266,734,243,241,243,243,241],0.56,[245,261,275,730,243,241,243,243,241],[245,154,275,737,243,241,243,243,241],0.26,[245,266,278,726,243,241,243,243,241],[245,275,278,632,243,241,243,243,241],[245,278,281,726,243,241,243,243,241],[245,281,281,742,243,241,243,243,241],0.37,[248,241,261,742,243,241,243,243,241],[248,245,261,745,243,241,243,243,241],9.84,[248,248,154,747,243,241,243,243,241],0.42,[248,251,154,749,243,241,243,243,241],5.25,[248,254,266,751,243,241,243,243,241],0.49,[248,257,266,753,243,241,243,243,241],4.06,[248,261,275,755,243,241,243,243,241],0.48,[248,154,275,757,243,241,243,243,241],4.11,[248,266,278,751,243,241,243,243,241],[248,275,278,760,243,241,243,243,241],2.13,[248,278,281,654,243,241,243,243,241],[248,281,281,763,243,241,243,243,241],2.1,[251,241,261,765,243,241,243,243,241],0.04,[251,245,261,767,243,241,243,243,241],1.05,[251,248,154,769,243,241,243,243,241],0.05,[251,251,154,660,243,241,243,243,241],[251,254,266,772,243,241,243,243,241],0.06,[251,257,266,672,243,241,243,243,241],[251,261,275,772,243,241,243,243,241],[251,154,275,628,243,241,243,243,241],[251,266,278,726,243,241,243,243,241],[251,275,278,624,243,241,243,243,241],[251,278,281,726,243,241,243,243,241],[251,281,281,780,243,241,243,243,241],0.12,[],[783],"VoR Table I",[],[],[787],"Version of record Table I: relative rotation error (RRE, deg) and relative translation error (RTE, %) over all sub-sequences of each length, two fast-rotating handheld sequences (130 and 200 deg\u002Fs, mapping to (a) and (b) not stated) with D-GPS RTK ground truth; rows R2LIVE-LIO, R2LIVE-VIO and R2LIVE-LC (the latter undefined in the text) omitted here. Supersedes the median values in the arXiv v1 Fig. 11 caption.",{"slug":789,"group":790,"sourceId":5,"sourceLabel":6,"table":791,"selfRows":339,"metrics":792,"seqs":801,"entrants":818,"cells":825,"outcomes":874,"locators":875,"hardware":876,"wordings":878,"notes":879},"r2live2021-table-ii","r2live2021:Table II","Table II",[793,797,799],{"label":794,"unit":795,"statistic":796,"alignment":48},"LI-Odom average time (ms), LiDAR-inertial fusion","ms","mean",{"label":798,"unit":795,"statistic":796,"alignment":48},"VI-Odom average time (ms), visual-inertial fusion",{"label":800,"unit":795,"statistic":796,"alignment":48},"FG-OPM average time (ms), factor graph optimization (separate thread, lower rate)",[802,806,810,814],{"dataset":803,"sequence":804,"environment":805},"R2LIVE Experiment-1 (authors' data)","Exp-1","aggressive motion and sensor blocking",{"dataset":807,"sequence":808,"environment":809},"R2LIVE Experiment-2 (authors' data)","Exp-2","HKU MTR station (tunnel-like)",{"dataset":811,"sequence":812,"environment":813},"R2LIVE Experiment-3 (authors' data)","Exp-3","HKU main building indoor-outdoor",{"dataset":815,"sequence":816,"environment":817},"R2LIVE Experiment-4 (authors' data)","Exp-4","D-GPS RTK sequences",[819,821,823],{"name":820,"methodId":5,"linkable":225,"proposed":225,"self":225},"R2LIVE LI-Odom",{"name":822,"methodId":5,"linkable":225,"proposed":225,"self":225},"R2LIVE VI-Odom",{"name":824,"methodId":5,"linkable":225,"proposed":225,"self":225},"R2LIVE FG-OPM",[826,828,830,832,834,836,838,840,842,844,846,848,850,852,854,856,858,860,862,864,866,868,870,872],[241,241,241,827,243,241,241,243,241],8.81,[241,241,241,829,243,241,245,243,241],15.98,[241,241,245,831,243,241,241,243,241],11.54,[241,241,245,833,243,241,245,243,241],25.3,[241,241,248,835,243,241,241,243,241],14.91,[241,241,248,837,243,241,245,243,241],30.64,[241,241,251,839,243,241,241,243,241],10.92,[241,241,251,841,243,241,245,243,241],24.37,[245,245,241,843,243,241,241,243,241],7.84,[245,245,241,845,243,241,245,243,241],13.92,[245,245,245,847,243,241,241,243,241],8.84,[245,245,245,849,243,241,245,243,241],19.1,[245,245,248,851,243,241,241,243,241],9.57,[245,245,248,853,243,241,245,243,241],19.56,[245,245,251,855,243,241,241,243,241],8.99,[245,245,251,857,243,241,245,243,241],20.16,[248,248,241,859,243,241,241,243,241],26.1,[248,248,241,861,243,241,245,243,241],45.35,[248,248,245,863,243,241,241,243,241],30.2,[248,248,245,865,243,241,245,243,241],65.25,[248,248,248,867,243,241,241,243,241],29.25,[248,248,248,869,243,241,245,243,241],58.08,[248,248,251,871,243,241,241,243,241],27.98,[248,248,251,873,243,241,245,243,241],60.43,[],[110],[108,877],"on-board DJI Manifold-2C, Intel i7-8550U CPU, 8 GB RAM",[],[880],"Average running time per update in Experiments 1-4 on desktop PC and on-board computer (identical in arXiv v1 Table I)",{"slug":882,"group":883,"sourceId":884,"sourceLabel":885,"table":161,"selfRows":339,"metrics":886,"seqs":899,"entrants":926,"cells":937,"outcomes":1148,"locators":1149,"hardware":1150,"wordings":1151,"notes":1152},"r3live2022-table-iii","r3live2022:Table III","r3live2022","Lin & Zhang, 2022",[887,888,889,890,891,892,893,894,895,896,897,898],{"label":552,"unit":553,"statistic":109,"alignment":109},{"label":555,"unit":556,"statistic":109,"alignment":109},{"label":558,"unit":553,"statistic":109,"alignment":109},{"label":560,"unit":556,"statistic":109,"alignment":109},{"label":562,"unit":553,"statistic":109,"alignment":109},{"label":564,"unit":556,"statistic":109,"alignment":109},{"label":566,"unit":553,"statistic":109,"alignment":109},{"label":568,"unit":556,"statistic":109,"alignment":109},{"label":570,"unit":553,"statistic":109,"alignment":109},{"label":572,"unit":556,"statistic":109,"alignment":109},{"label":574,"unit":553,"statistic":109,"alignment":109},{"label":576,"unit":556,"statistic":109,"alignment":109},[900,904,906,908,910,912,914,916,918,920,922,924],{"dataset":901,"sequence":902,"environment":903},"R3LIVE Experiment-3 (authors' data, D-GPS RTK)","Experiment-3 (a), 50 m sub-sequences","seaport promenade with pedestrians and open sea (handheld)",{"dataset":901,"sequence":905,"environment":903},"Experiment-3 (a), 100 m sub-sequences",{"dataset":901,"sequence":907,"environment":903},"Experiment-3 (a), 150 m sub-sequences",{"dataset":901,"sequence":909,"environment":903},"Experiment-3 (a), 200 m sub-sequences",{"dataset":901,"sequence":911,"environment":903},"Experiment-3 (a), 250 m sub-sequences",{"dataset":901,"sequence":913,"environment":903},"Experiment-3 (a), 300 m sub-sequences",{"dataset":901,"sequence":915,"environment":903},"Experiment-3 (b), 50 m sub-sequences",{"dataset":901,"sequence":917,"environment":903},"Experiment-3 (b), 100 m sub-sequences",{"dataset":901,"sequence":919,"environment":903},"Experiment-3 (b), 150 m sub-sequences",{"dataset":901,"sequence":921,"environment":903},"Experiment-3 (b), 200 m sub-sequences",{"dataset":901,"sequence":923,"environment":903},"Experiment-3 (b), 250 m sub-sequences",{"dataset":901,"sequence":925,"environment":903},"Experiment-3 (b), 300 m sub-sequences",[927,929,931,933,934,936],{"name":928,"methodId":884,"linkable":225,"proposed":225,"self":78},"R3LIVE-HiRes",{"name":930,"methodId":884,"linkable":225,"proposed":225,"self":78},"R3LIVE-RT",{"name":932,"methodId":229,"linkable":225,"proposed":78,"self":78},"LVI SAM",{"name":7,"methodId":5,"linkable":225,"proposed":78,"self":225},{"name":935,"methodId":235,"linkable":225,"proposed":78,"self":78},"FAST-LIO2",{"name":606,"methodId":607,"linkable":225,"proposed":78,"self":78},[938,940,942,944,946,948,949,950,951,952,953,954,955,957,959,961,963,964,965,966,968,969,970,971,973,975,977,979,981,982,984,985,987,988,990,991,993,995,997,999,1000,1002,1003,1004,1005,1006,1007,1008,1009,1011,1013,1015,1017,1018,1019,1020,1021,1022,1023,1024,1025,1027,1029,1031,1033,1035,1037,1039,1041,1043,1045,1046,1048,1049,1051,1053,1054,1055,1056,1058,1059,1061,1062,1063,1064,1066,1068,1069,1071,1072,1073,1074,1076,1077,1078,1079,1081,1083,1085,1086,1088,1089,1091,1092,1094,1095,1097,1098,1100,1101,1103,1104,1106,1107,1109,1110,1111,1112,1113,1114,1115,1117,1119,1121,1122,1123,1124,1125,1126,1127,1128,1129,1130,1132,1134,1135,1137,1138,1140,1141,1143,1144,1145,1146],[241,241,241,939,243,241,243,243,241],0.99,[241,245,241,941,243,241,243,243,241],2.25,[241,248,245,943,243,241,243,243,241],0.53,[241,251,245,945,243,241,243,243,241],1.02,[241,254,248,947,243,241,243,243,241],0.46,[241,257,248,660,243,241,243,243,241],[241,261,251,644,243,241,243,243,241],[241,154,251,672,243,241,243,243,241],[241,266,254,616,243,241,243,243,241],[241,275,254,672,243,241,243,243,241],[241,278,257,620,243,241,243,243,241],[241,281,257,624,243,241,243,243,241],[245,241,241,956,243,241,243,243,241],1.48,[245,245,241,958,243,241,243,243,241],2.21,[245,248,245,960,243,241,243,243,241],0.54,[245,251,245,962,243,241,243,243,241],1.06,[245,254,248,751,243,241,243,243,241],[245,257,248,660,243,241,243,243,241],[245,261,251,672,243,241,243,243,241],[245,154,251,967,243,241,243,243,241],0.41,[245,266,254,632,243,241,243,243,241],[245,275,254,672,243,241,243,243,241],[245,278,257,648,243,241,243,243,241],[245,281,257,972,243,241,243,243,241],0.23,[248,241,241,974,243,241,243,243,241],2.11,[248,245,241,976,243,241,243,243,241],13.73,[248,248,245,978,243,241,243,243,241],1.04,[248,251,245,980,243,241,243,243,241],6.69,[248,254,248,679,243,241,243,243,241],[248,257,248,983,243,241,243,243,241],5.07,[248,261,251,660,243,241,243,243,241],[248,154,251,986,243,241,243,243,241],3.86,[248,266,254,722,243,241,243,243,241],[248,275,254,989,243,241,243,243,241],2.98,[248,278,257,695,243,241,243,243,241],[248,281,257,992,243,241,243,243,241],2.4,[251,241,241,994,243,241,243,243,241],1.21,[251,245,241,996,243,241,243,243,241],2.47,[251,248,245,998,243,241,243,243,241],0.61,[251,251,245,945,243,241,243,243,241],[251,254,248,1001,243,241,243,243,241],0.59,[251,257,248,660,243,241,243,243,241],[251,261,251,640,243,241,243,243,241],[251,154,251,640,243,241,243,243,241],[251,266,254,742,243,241,243,243,241],[251,275,254,662,243,241,243,243,241],[251,278,257,640,243,241,243,243,241],[251,281,257,620,243,241,243,243,241],[254,241,241,1010,243,241,243,243,241],1.36,[254,245,241,1012,243,241,243,243,241],2.35,[254,248,245,1014,243,241,243,243,241],0.66,[254,251,245,1016,243,241,243,243,241],0.82,[254,254,248,722,243,241,243,243,241],[254,257,248,660,243,241,243,243,241],[254,261,251,742,243,241,243,243,241],[254,154,251,656,243,241,243,243,241],[254,266,254,742,243,241,243,243,241],[254,275,254,672,243,241,243,243,241],[254,278,257,620,243,241,243,243,241],[254,281,257,628,243,241,243,243,241],[257,241,241,1026,243,241,243,243,241],3.03,[257,245,241,1028,243,241,243,243,241],10.41,[257,248,245,1030,243,241,243,243,241],1.7,[257,251,245,1032,243,241,243,243,241],7.63,[257,254,248,1034,243,241,243,243,241],1.15,[257,257,248,1036,243,241,243,243,241],6.36,[257,261,251,1038,243,241,243,243,241],0.89,[257,154,251,1040,243,241,243,243,241],4.34,[257,266,254,1042,243,241,243,243,241],0.73,[257,275,254,1044,243,241,243,243,241],3.08,[257,278,257,1001,243,241,243,243,241],[257,281,257,1047,243,241,243,243,241],2.31,[241,241,261,962,243,241,243,243,241],[241,245,261,1050,243,241,243,243,241],1.98,[241,248,154,1052,243,241,243,243,241],0.58,[241,251,154,646,243,241,243,243,241],[241,254,266,695,243,241,243,243,241],[241,257,266,679,243,241,243,243,241],[241,261,275,1057,243,241,243,243,241],0.32,[241,154,275,1001,243,241,243,243,241],[241,266,278,1060,243,241,243,243,241],0.27,[241,275,278,1060,243,241,243,243,241],[241,278,281,632,243,241,243,243,241],[241,281,281,693,243,241,243,243,241],[245,241,261,1065,243,241,243,243,241],0.98,[245,245,261,1067,243,241,243,243,241],2.08,[245,248,154,712,243,241,243,243,241],[245,251,154,1070,243,241,243,243,241],1.61,[245,254,266,722,243,241,243,243,241],[245,257,266,939,243,241,243,243,241],[245,261,275,705,243,241,243,243,241],[245,154,275,1075,243,241,243,243,241],0.65,[245,266,278,662,243,241,243,243,241],[245,275,278,662,243,241,243,243,241],[245,278,281,632,243,241,243,243,241],[245,281,281,1080,243,241,243,243,241],0.14,[248,241,261,1082,243,241,243,243,241],2.04,[248,245,261,1084,243,241,243,243,241],3.33,[248,248,154,767,243,241,243,243,241],[248,251,154,1087,243,241,243,243,241],2.37,[248,254,266,650,243,241,243,243,241],[248,257,266,1090,243,241,243,243,241],1.53,[248,261,275,668,243,241,243,243,241],[248,154,275,1093,243,241,243,243,241],1.38,[248,266,278,751,243,241,243,243,241],[248,275,278,1096,243,241,243,243,241],1.13,[248,278,281,636,243,241,243,243,241],[248,281,281,1099,243,241,243,243,241],1.01,[251,241,261,1096,243,241,243,243,241],[251,245,261,1102,243,241,243,243,241],2.06,[251,248,154,1075,243,241,243,243,241],[251,251,154,1105,243,241,243,243,241],1.45,[251,254,266,751,243,241,243,243,241],[251,257,266,1108,243,241,243,243,241],0.88,[251,261,275,672,243,241,243,243,241],[251,154,275,668,243,241,243,243,241],[251,266,278,737,243,241,243,243,241],[251,275,278,700,243,241,243,243,241],[251,278,281,644,243,241,243,243,241],[251,281,281,693,243,241,243,243,241],[254,241,261,1116,243,241,243,243,241],1.31,[254,245,261,1118,243,241,243,243,241],2.22,[254,248,154,1120,243,241,243,243,241],0.69,[254,251,154,646,243,241,243,243,241],[254,254,266,751,243,241,243,243,241],[254,257,266,1038,243,241,243,243,241],[254,261,275,672,243,241,243,243,241],[254,154,275,1001,243,241,243,243,241],[254,266,278,737,243,241,243,243,241],[254,275,278,672,243,241,243,243,241],[254,278,281,632,243,241,243,243,241],[254,281,281,644,243,241,243,243,241],[257,241,261,1131,243,241,243,243,241],2.44,[257,245,261,1133,243,241,243,243,241],9.35,[257,248,154,1116,243,241,243,243,241],[257,251,154,1136,243,241,243,243,241],7.28,[257,254,266,939,243,241,243,243,241],[257,257,266,1139,243,241,243,243,241],4.63,[257,261,275,1014,243,241,243,243,241],[257,154,275,1142,243,241,243,243,241],3.68,[257,266,278,734,243,241,243,243,241],[257,275,278,630,243,241,243,243,241],[257,278,281,755,243,241,243,243,241],[257,281,281,1147,243,241,243,243,241],2.73,[],[507],[],[],[1153],"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",[1155,1161,1167],{"group":1156,"slug":1157,"sourceLabel":1158,"table":791,"selfRows":275,"datasets":1159},"fastlivo2022:Table II","fastlivo2022-table-ii","Zheng et al., 2022",[1160],"NTU-VIRAL",{"group":1162,"slug":1163,"sourceLabel":1158,"table":1164,"selfRows":248,"datasets":1165},"fastlivo2022:Text Sec.VI-C","fastlivo2022-text-sec-vi-c","Text Sec.VI-C",[1166],"private datasets",{"group":1168,"slug":1169,"sourceLabel":1170,"table":1171,"selfRows":245,"datasets":1172},"ghadimzadeh2025slamnde:Table 3","ghadimzadeh2025slamnde-table-3","Ghadimzadeh Alamdari et al., 2025","Table 3",[1173],"Luleå SubT tunnel dataset (Koval et al. 2022)",1790510660165]