[{"data":1,"prerenderedAt":1182},["ShallowReactive",2],{"method-r3live2022":3},{"method":4,"reference":62,"equipment":81,"figures":125,"results":156},{"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":26,"sensors":31,"platform":37,"estimator":39,"association":40,"timeModel":41,"deskew":42,"loopClosure":43,"globalOptimization":44,"mapRepresentation":45,"prior":44,"outputGeometry":46,"compute":47,"codeUrl":48,"codeLicense":49,"relatedVersions":50},"r3live2022","Lin & Zhang, 2022","R3LIVE","R$^3$LIVE: A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package",2022,"recent","C07","odometry_with_local_mapping","R3LIVE 由光達慣性里程計（LIO，沿用 FAST-LIO2）重建幾何結構，視覺慣性里程計（VIO）則為地圖點上色並同時估計狀態。VIO 先以光流追蹤點的 PnP 重投影誤差粗估，再以地圖點 RGB 與當前影像的光度誤差做幀對地圖（frame-to-map）精修，不需擷取顯著視覺特徵。每個地圖點的顏色與共變異數以貝氏更新融合多次觀測，arXiv 預印本另描述離線網格化、貼圖與 pcd、ply、obj 匯出工具，但 ICRA 正式版刪去此節。","LIO builds geometry while a direct frame-to-map photometric VIO both tracks the camera against colored map points and fuses per-point RGB with a Bayesian update, yielding a real-time RGB-colored point cloud.","full_text_reviewed","peer_reviewed_published","main_body","原論文於香港科技大學校園與海濱（D-GPS RTK）測試，非營建工地。後續 FAST-LIVO2 在 Hilti 資料集（含工地序列）上的比較中，作者報告 R3LIVE 於「Construction Stairs」等序列表現不佳（fastlivo2_2025, Sec. IX-B）；此屬他文報告，不是 R3LIVE 作者的工地驗證。",[20],"independent_reference",[22,23,24,25],"Survived a narrow passage facing white walls where LiDAR is degenerate and texture is minimal, drifting 4.57 cm and 1.62 deg at the end (Sec. VI-B)","Real-time dense RGB-colored map (VoR Fig. 1, Fig. 7); export to common 3D software is described only in arXiv v1 Sec. VII","Lowest RTE at most sub-sequence lengths in two D-GPS seaport sequences, e.g., 0.17 % (HiRes) over 300 m vs 2.40 % for LVI-SAM in sequence (a) (VoR Table III)","Open-source code and FDM-printable hardware design (Sec. VI-A)",[27,28,29,30],"No loop closure; accuracy reported as end-point drift and RPE only (Sec. VI)","FAST-LIO2 has a lower RTE than R3LIVE at some lengths, e.g., 0.82 % vs 1.02 % at 100 m in sequence (a) (VoR Table III)","Follow-up work reports local optima under intense rotation in structure-less staircases, e.g., the Hilti Construction Stairs sequence (fastlivo2_2025, Sec. IX-B)","Follow-up work reports R3LIVE could not keep real-time for long periods on r3live_01 (srlivo2024, Sec. VI-D)",[32,33,34,35,36],"3D LiDAR (Livox AVIA, FoV 70.4 x 77.2 deg)","IMU (labelled 'Build-in IMU' of the LiDAR in the device figure; model not reported)","global-shutter RGB camera (FLIR Blackfly BFS-u3-13y3c, FoV 82.9 x 66.5 deg)","D-GPS RTK system (reference only)","ArUco marker board (drift reference in GPS-denied tests)",[38],"handheld","error-state iterated Kalman filter shared by a LiDAR-inertial subsystem (FAST-LIO2) and a visual-inertial subsystem; camera extrinsic, intrinsic and camera-IMU time offset in the state","LiDAR raw points with point-to-plane residuals; VIO first minimizes frame-to-frame PnP reprojection error of optical-flow-tracked map points, then frame-to-map photometric error between map-point RGB and image","discrete poses; LiDAR assumed synchronized with IMU, camera-IMU time offset estimated online","motion compensation in the LIO subsystem (Fig. 2; inherited from FAST-LIO2)","none (drift reported as trajectories closing without loop detection, Sec. VI-C)","none","fixed-size voxels (e.g., 0.1 m) holding points with XYZ and RGB; per-point color covariance updated by Bayesian fusion","dense RGB-colored point cloud in real time (VoR Fig. 1, Fig. 7); offline mesh (Delaunay triangulation plus graph cuts in CGAL) with vertex-color texturing and export to pcd, ply, obj are described only in arXiv v1 Sec. VII-A, not in the ICRA version of record","CPU real-time; LIO 18.40 ms per frame on an i7-9700K PC and 39.56 ms on the onboard i7-8550U; VIO 7.08 to 23.17 ms on PC and 15.30 to 61.34 ms onboard depending on image size (320x256 to 1280x1024) and map resolution (0.10 to 0.01 m) (VoR Table IV; arXiv v1 Table IV reports higher VIO times, up to 43.71 ms PC and 166.08 ms onboard)","https:\u002F\u002Fgithub.com\u002Fhku-mars\u002Fr3live","GPLv2 for personal and academic use; commercial use requires negotiation (README)",[51,55,59],{"relation":52,"title":53,"doi_or_url":54},"preprint","R3LIVE arXiv v1 (2021-09-10)","https:\u002F\u002Farxiv.org\u002Fabs\u002F2109.07982",{"relation":56,"title":57,"doi_or_url":58},"journal_extension","R3LIVE++: A Robust, Real-Time, Radiance Reconstruction Package With a Tightly-Coupled LiDAR-Inertial-Visual State Estimator","10.1109\u002FTPAMI.2024.3456473",{"relation":60,"title":61,"doi_or_url":48},"code_release","hku-mars\u002Fr3live",{"id":5,"kind":63,"shortName":7,"title":8,"authors":64,"year":9,"venue":67,"venueType":68,"publisher":69,"volumeIssuePages":70,"doi":71,"arxivId":72,"url":54,"firstPublicDate":73,"publicationStatus":16,"metadataStatus":74,"fulltextStatus":15,"era":10,"classicReason":75,"codeUrl":48,"cluster":11,"topics":76,"mdpi":77,"verification":78,"label":6,"fulltextRoute":79,"versionRead":80,"addedByCensus":77},"method",[65,66],"Jiarong Lin","Fu Zhang","2022 International Conference on Robotics and Automation (ICRA)","conference","IEEE","pp. 10672-10678","10.1109\u002Ficra46639.2022.9811935","2109.07982","2021-09-10","metadata_verified","not_applicable",[11],false,"confirmed","NTU institutional (curl)","ICRA 2022 version of record, pp. 10672-10678 (typeset PDF via NTU institutional access), read in full; arXiv 2109.07982 v1 (2021-09-10, 'submitted to RA-L') also read in full and compared. Results are taken from the version of record.",[82,90,95,100,106,109,115,120],{"category":83,"model":84,"canonical":85,"role":86,"dataset":87,"specs":88,"locator":89},"lidar","LiVOX AVIA","Livox Avia","method input",null,"FoV 70.4 x 77.2 deg","VoR Sec. VI-A1",{"category":91,"model":92,"canonical":92,"role":86,"dataset":87,"specs":93,"locator":94},"imu","built-in IMU of the LiDAR (label 'Build-in IMU')","not_reported","VoR Fig. 5",{"category":96,"model":97,"canonical":97,"role":86,"dataset":87,"specs":98,"locator":99},"camera","FLIR Blackfly BFS-u3-13y3c global shutter camera","FoV 82.9 x 66.5 deg; 1280x1024 or 320x256 input in Table III configurations","VoR Sec. VI-A1; Table III",{"category":101,"model":102,"canonical":102,"role":103,"dataset":87,"specs":104,"locator":105},"compute","DJI manifold-2c computation platform (Intel i7-8550u CPU, 8 GB RAM)","compute for runtime","'OB' platform in Table IV","VoR Sec. VI-A1; Sec. VI-E; Table IV",{"category":101,"model":107,"canonical":107,"role":103,"dataset":87,"specs":93,"locator":108},"desktop PC, Intel i7-9700K CPU, 32 GB RAM","VoR Sec. VI-E; Table IV",{"category":110,"model":111,"canonical":111,"role":112,"dataset":87,"specs":113,"locator":114},"gnss","Differential-GPS (D-GPS) real-time kinematic (RTK) system","reference or ground truth","base and mobile stations (Fig. 5 b)","VoR Sec. VI-A1; Sec. VI-D",{"category":116,"model":117,"canonical":117,"role":112,"dataset":87,"specs":118,"locator":119},"other","ArUco marker board","relative pose between start and end poses","VoR Sec. VI-A1; Sec. VI-B; Sec. VI-C",{"category":121,"model":122,"canonical":122,"role":86,"dataset":87,"specs":123,"locator":124},"platform","handheld data-collection device with FDM-printable mechanical parts","total weight 2.09 kg (arXiv v1 Fig. 6 caption)","VoR Fig. 5; arXiv v1 Fig. 6",[126,139,147],{"refId":5,"refLabel":6,"fig":127,"whatZh":128,"license":129,"licenseUrl":130,"sourceUrl":131,"src":132,"width":133,"height":134,"thumb":135,"thumbWidth":136,"thumbHeight":137,"modified":138},"Fig. 1","R3LIVE 即時重建的稠密 RGB 上色點雲與行走軌跡；arXiv 版另含離線網格與貼圖結果","CC BY 4.0 (arXiv v1 per abs page); ICRA version of record (c) 2022 IEEE","http:\u002F\u002Fcreativecommons.org\u002Flicenses\u002Fby\u002F4.0\u002F","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2109.07982v1\u002Fpics\u002Fcover_v4.jpg","\u002Ffigure-files\u002Fr3live2022\u002Ffig-1.webp",1400,1348,"\u002Ffigure-files\u002Fr3live2022\u002Ffig-1.thumb.webp",480,462,"resized to at most 1400 px wide and converted to WebP",{"refId":5,"refLabel":6,"fig":140,"whatZh":141,"license":129,"licenseUrl":130,"sourceUrl":142,"src":143,"width":133,"height":144,"thumb":145,"thumbWidth":136,"thumbHeight":146,"modified":138},"Fig. 6","手持資料收集裝置（光達、相機、內建 IMU、電池與機上電腦），以及 D-GPS RTK 與 ArUco 標記板（正式版為 Fig. 5）","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2109.07982v1\u002FR3LIVE_equidments_com.png","\u002Ffigure-files\u002Fr3live2022\u002Ffig-6.webp",517,"\u002Ffigure-files\u002Fr3live2022\u002Ffig-6.thumb.webp",177,{"refId":5,"refLabel":6,"fig":148,"whatZh":149,"license":150,"licenseUrl":130,"sourceUrl":151,"src":152,"width":133,"height":153,"thumb":154,"thumbWidth":136,"thumbHeight":155,"modified":138},"Fig. 13","RGB 上色點雲、網格線框、網格表面與貼圖後網格（僅見於 arXiv 版）","CC BY 4.0 (arXiv v1 per abs page)","https:\u002F\u002Farxiv.org\u002Fhtml\u002F2109.07982v1\u002Fmesh_2x2_com.png","\u002Ffigure-files\u002Fr3live2022\u002Ffig-13.webp",842,"\u002Ffigure-files\u002Fr3live2022\u002Ffig-13.thumb.webp",289,{"totalRows":157,"groupCount":158,"groups":159,"others":1059},306,25,[160,498,662,955],{"slug":161,"group":162,"sourceId":5,"sourceLabel":6,"table":163,"selfRows":164,"metrics":165,"seqs":192,"entrants":219,"cells":237,"outcomes":491,"locators":492,"hardware":494,"wordings":495,"notes":496},"r3live2022-table-iii","r3live2022:Table III","Table III",48,[166,169,172,174,176,178,180,182,184,186,188,190],{"label":167,"unit":168,"statistic":93,"alignment":93},"RRE (deg) over 50 m sub-sequences","deg",{"label":170,"unit":171,"statistic":93,"alignment":93},"RTE (%) over 50 m sub-sequences","%",{"label":173,"unit":168,"statistic":93,"alignment":93},"RRE (deg) over 100 m sub-sequences",{"label":175,"unit":171,"statistic":93,"alignment":93},"RTE (%) over 100 m sub-sequences",{"label":177,"unit":168,"statistic":93,"alignment":93},"RRE (deg) over 150 m sub-sequences",{"label":179,"unit":171,"statistic":93,"alignment":93},"RTE (%) over 150 m sub-sequences",{"label":181,"unit":168,"statistic":93,"alignment":93},"RRE (deg) over 200 m sub-sequences",{"label":183,"unit":171,"statistic":93,"alignment":93},"RTE (%) over 200 m sub-sequences",{"label":185,"unit":168,"statistic":93,"alignment":93},"RRE (deg) over 250 m sub-sequences",{"label":187,"unit":171,"statistic":93,"alignment":93},"RTE (%) over 250 m sub-sequences",{"label":189,"unit":168,"statistic":93,"alignment":93},"RRE (deg) over 300 m sub-sequences",{"label":191,"unit":171,"statistic":93,"alignment":93},"RTE (%) over 300 m sub-sequences",[193,197,199,201,203,205,207,209,211,213,215,217],{"dataset":194,"sequence":195,"environment":196},"R3LIVE Experiment-3 (authors' data, D-GPS RTK)","Experiment-3 (a), 50 m sub-sequences","seaport promenade with pedestrians and open sea (handheld)",{"dataset":194,"sequence":198,"environment":196},"Experiment-3 (a), 100 m sub-sequences",{"dataset":194,"sequence":200,"environment":196},"Experiment-3 (a), 150 m sub-sequences",{"dataset":194,"sequence":202,"environment":196},"Experiment-3 (a), 200 m sub-sequences",{"dataset":194,"sequence":204,"environment":196},"Experiment-3 (a), 250 m sub-sequences",{"dataset":194,"sequence":206,"environment":196},"Experiment-3 (a), 300 m sub-sequences",{"dataset":194,"sequence":208,"environment":196},"Experiment-3 (b), 50 m sub-sequences",{"dataset":194,"sequence":210,"environment":196},"Experiment-3 (b), 100 m sub-sequences",{"dataset":194,"sequence":212,"environment":196},"Experiment-3 (b), 150 m sub-sequences",{"dataset":194,"sequence":214,"environment":196},"Experiment-3 (b), 200 m sub-sequences",{"dataset":194,"sequence":216,"environment":196},"Experiment-3 (b), 250 m sub-sequences",{"dataset":194,"sequence":218,"environment":196},"Experiment-3 (b), 300 m sub-sequences",[220,223,225,228,231,234],{"name":221,"methodId":5,"linkable":222,"proposed":222,"self":222},"R3LIVE-HiRes",true,{"name":224,"methodId":5,"linkable":222,"proposed":222,"self":222},"R3LIVE-RT",{"name":226,"methodId":227,"linkable":222,"proposed":77,"self":77},"LVI SAM","lvisam2021",{"name":229,"methodId":230,"linkable":222,"proposed":77,"self":77},"R2LIVE","r2live2021",{"name":232,"methodId":233,"linkable":222,"proposed":77,"self":77},"FAST-LIO2","fastlio2_2022",{"name":235,"methodId":236,"linkable":222,"proposed":77,"self":77},"VINS-Mono","vinsmono2018",[238,242,245,248,251,254,257,260,263,266,268,271,274,276,278,280,282,284,285,286,288,290,291,293,295,297,299,301,303,305,307,308,310,312,314,316,318,320,322,324,325,327,328,330,331,333,335,336,337,339,341,343,345,346,347,348,350,351,352,353,355,357,359,361,363,365,367,369,371,373,375,376,378,379,381,383,385,386,387,389,390,392,393,394,396,398,400,402,404,405,406,408,410,411,412,413,415,417,419,421,423,425,427,429,431,432,434,436,438,439,441,442,444,445,447,448,449,451,453,454,455,457,459,461,462,463,464,465,466,467,468,469,470,472,474,475,477,478,480,481,483,485,487,489],[239,239,239,240,241,239,241,241,239],0,0.99,-1,[239,243,239,244,241,239,241,241,239],1,2.25,[239,246,243,247,241,239,241,241,239],2,0.53,[239,249,243,250,241,239,241,241,239],3,1.02,[239,252,246,253,241,239,241,241,239],4,0.46,[239,255,246,256,241,239,241,241,239],5,0.6,[239,258,249,259,241,239,241,241,239],6,0.29,[239,261,249,262,241,239,241,241,239],7,0.31,[239,264,252,265,241,239,241,241,239],8,0.24,[239,267,252,262,241,239,241,241,239],9,[239,269,255,270,241,239,241,241,239],10,0.21,[239,272,255,273,241,239,241,241,239],11,0.17,[243,239,239,275,241,239,241,241,239],1.48,[243,243,239,277,241,239,241,241,239],2.21,[243,246,243,279,241,239,241,241,239],0.54,[243,249,243,281,241,239,241,241,239],1.06,[243,252,246,283,241,239,241,241,239],0.49,[243,255,246,256,241,239,241,241,239],[243,258,249,262,241,239,241,241,239],[243,261,249,287,241,239,241,241,239],0.41,[243,264,252,289,241,239,241,241,239],0.25,[243,267,252,262,241,239,241,241,239],[243,269,255,292,241,239,241,241,239],0.22,[243,272,255,294,241,239,241,241,239],0.23,[246,239,239,296,241,239,241,241,239],2.11,[246,243,239,298,241,239,241,241,239],13.73,[246,246,243,300,241,239,241,241,239],1.04,[246,249,243,302,241,239,241,241,239],6.69,[246,252,246,304,241,239,241,241,239],0.83,[246,255,246,306,241,239,241,241,239],5.07,[246,258,249,256,241,239,241,241,239],[246,261,249,309,241,239,241,241,239],3.86,[246,264,252,311,241,239,241,241,239],0.47,[246,267,252,313,241,239,241,241,239],2.98,[246,269,255,315,241,239,241,241,239],0.43,[246,272,255,317,241,239,241,241,239],2.4,[249,239,239,319,241,239,241,241,239],1.21,[249,243,239,321,241,239,241,241,239],2.47,[249,246,243,323,241,239,241,241,239],0.61,[249,249,243,250,241,239,241,241,239],[249,252,246,326,241,239,241,241,239],0.59,[249,255,246,256,241,239,241,241,239],[249,258,249,329,241,239,241,241,239],0.34,[249,261,249,329,241,239,241,241,239],[249,264,252,332,241,239,241,241,239],0.37,[249,267,252,334,241,239,241,241,239],0.33,[249,269,255,329,241,239,241,241,239],[249,272,255,270,241,239,241,241,239],[252,239,239,338,241,239,241,241,239],1.36,[252,243,239,340,241,239,241,241,239],2.35,[252,246,243,342,241,239,241,241,239],0.66,[252,249,243,344,241,239,241,241,239],0.82,[252,252,246,311,241,239,241,241,239],[252,255,246,256,241,239,241,241,239],[252,258,249,332,241,239,241,241,239],[252,261,249,349,241,239,241,241,239],0.36,[252,264,252,332,241,239,241,241,239],[252,267,252,262,241,239,241,241,239],[252,269,255,270,241,239,241,241,239],[252,272,255,354,241,239,241,241,239],0.2,[255,239,239,356,241,239,241,241,239],3.03,[255,243,239,358,241,239,241,241,239],10.41,[255,246,243,360,241,239,241,241,239],1.7,[255,249,243,362,241,239,241,241,239],7.63,[255,252,246,364,241,239,241,241,239],1.15,[255,255,246,366,241,239,241,241,239],6.36,[255,258,249,368,241,239,241,241,239],0.89,[255,261,249,370,241,239,241,241,239],4.34,[255,264,252,372,241,239,241,241,239],0.73,[255,267,252,374,241,239,241,241,239],3.08,[255,269,255,326,241,239,241,241,239],[255,272,255,377,241,239,241,241,239],2.31,[239,239,258,281,241,239,241,241,239],[239,243,258,380,241,239,241,241,239],1.98,[239,246,261,382,241,239,241,241,239],0.58,[239,249,261,384,241,239,241,241,239],1.34,[239,252,264,315,241,239,241,241,239],[239,255,264,304,241,239,241,241,239],[239,258,267,388,241,239,241,241,239],0.32,[239,261,267,326,241,239,241,241,239],[239,264,269,391,241,239,241,241,239],0.27,[239,267,269,391,241,239,241,241,239],[239,269,272,289,241,239,241,241,239],[239,272,272,395,241,239,241,241,239],0.16,[243,239,258,397,241,239,241,241,239],0.98,[243,243,258,399,241,239,241,241,239],2.08,[243,246,261,401,241,239,241,241,239],0.55,[243,249,261,403,241,239,241,241,239],1.61,[243,252,264,311,241,239,241,241,239],[243,255,264,240,241,239,241,241,239],[243,258,267,407,241,239,241,241,239],0.39,[243,261,267,409,241,239,241,241,239],0.65,[243,264,269,334,241,239,241,241,239],[243,267,269,334,241,239,241,241,239],[243,269,272,289,241,239,241,241,239],[243,272,272,414,241,239,241,241,239],0.14,[246,239,258,416,241,239,241,241,239],2.04,[246,243,258,418,241,239,241,241,239],3.33,[246,246,261,420,241,239,241,241,239],1.05,[246,249,261,422,241,239,241,241,239],2.37,[246,252,264,424,241,239,241,241,239],0.81,[246,255,264,426,241,239,241,241,239],1.53,[246,258,267,428,241,239,241,241,239],0.57,[246,261,267,430,241,239,241,241,239],1.38,[246,264,269,283,241,239,241,241,239],[246,267,269,433,241,239,241,241,239],1.13,[246,269,272,435,241,239,241,241,239],0.44,[246,272,272,437,241,239,241,241,239],1.01,[249,239,258,433,241,239,241,241,239],[249,243,258,440,241,239,241,241,239],2.06,[249,246,261,409,241,239,241,241,239],[249,249,261,443,241,239,241,241,239],1.45,[249,252,264,283,241,239,241,241,239],[249,255,264,446,241,239,241,241,239],0.88,[249,258,267,262,241,239,241,241,239],[249,261,267,428,241,239,241,241,239],[249,264,269,450,241,239,241,241,239],0.26,[249,267,269,452,241,239,241,241,239],0.3,[249,269,272,259,241,239,241,241,239],[249,272,272,395,241,239,241,241,239],[252,239,258,456,241,239,241,241,239],1.31,[252,243,258,458,241,239,241,241,239],2.22,[252,246,261,460,241,239,241,241,239],0.69,[252,249,261,384,241,239,241,241,239],[252,252,264,283,241,239,241,241,239],[252,255,264,368,241,239,241,241,239],[252,258,267,262,241,239,241,241,239],[252,261,267,326,241,239,241,241,239],[252,264,269,450,241,239,241,241,239],[252,267,269,262,241,239,241,241,239],[252,269,272,289,241,239,241,241,239],[252,272,272,259,241,239,241,241,239],[255,239,258,471,241,239,241,241,239],2.44,[255,243,258,473,241,239,241,241,239],9.35,[255,246,261,456,241,239,241,241,239],[255,249,261,476,241,239,241,241,239],7.28,[255,252,264,240,241,239,241,241,239],[255,255,264,479,241,239,241,241,239],4.63,[255,258,267,342,241,239,241,241,239],[255,261,267,482,241,239,241,241,239],3.68,[255,264,269,484,241,239,241,241,239],0.56,[255,267,269,486,241,239,241,241,239],3.24,[255,269,272,488,241,239,241,241,239],0.48,[255,272,272,490,241,239,241,241,239],2.73,[],[493],"VoR 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quality of the colorized map projected onto each image, following NeRF-style evaluation; higher is better; 'x' = drifted halfway",{"slug":663,"group":664,"sourceId":665,"sourceLabel":666,"table":503,"selfRows":667,"metrics":668,"seqs":673,"entrants":719,"cells":731,"outcomes":948,"locators":950,"hardware":951,"wordings":952,"notes":953},"palvio2026-table-ii","palvio2026:Table II","palvio2026","Tang et al., 2026",21,[669],{"label":670,"unit":671,"statistic":672,"alignment":93},"absolute translation error (RMSE, meters)","m","RMSE",[674,678,680,682,684,686,688,690,692,694,696,698,702,704,706,708,710,712,714,716,718],{"dataset":675,"sequence":676,"environment":677},"i2Nav-Robot","building00","low-speed wheeled robot; building, parking, playground and street sequences (indoor-outdoor)",{"dataset":675,"sequence":679,"environment":677},"building01",{"dataset":675,"sequence":681,"environment":677},"building02",{"dataset":675,"sequence":683,"environment":677},"parking00",{"dataset":675,"sequence":685,"environment":677},"parking01",{"dataset":675,"sequence":687,"environment":677},"parking02",{"dataset":675,"sequence":689,"environment":677},"playground00",{"dataset":675,"sequence":691,"environment":677},"street00",{"dataset":675,"sequence":693,"environment":677},"street01",{"dataset":675,"sequence":695,"environment":677},"street02",{"dataset":675,"sequence":697,"environment":677},"Average",{"dataset":699,"sequence":700,"environment":701},"MARS-LVIG","AMtown01","UAV at 3 to 12 m\u002Fs, cruising altitude 80 m (AMtown, HKairport) to 130 m (AMvalley)",{"dataset":699,"sequence":703,"environment":701},"AMtown02",{"dataset":699,"sequence":705,"environment":701},"AMtown03",{"dataset":699,"sequence":707,"environment":701},"AMvalley01",{"dataset":699,"sequence":709,"environment":701},"AMvalley02",{"dataset":699,"sequence":711,"environment":701},"AMvalley03",{"dataset":699,"sequence":713,"environment":701},"HKairport01",{"dataset":699,"sequence":715,"environment":701},"HKairport02",{"dataset":699,"sequence":717,"environment":701},"HKairport03",{"dataset":699,"sequence":697,"environment":701},[720,722,723,725,726,729],{"name":721,"methodId":87,"linkable":77,"proposed":77,"self":77},"FF-LINS",{"name":232,"methodId":233,"linkable":222,"proposed":77,"self":77},{"name":724,"methodId":87,"linkable":77,"proposed":77,"self":77},"LE-VINS",{"name":7,"methodId":5,"linkable":222,"proposed":77,"self":222},{"name":727,"methodId":728,"linkable":222,"proposed":77,"self":77},"FAST-LIVO2","fastlivo2_2025",{"name":730,"methodId":665,"linkable":222,"proposed":222,"self":77},"Ours (PA-LVIO)",[732,734,735,737,738,740,741,743,745,746,747,749,750,752,754,755,757,759,760,762,763,764,765,766,768,769,770,771,772,773,774,775,776,777,778,780,781,783,784,785,787,788,789,791,793,795,796,798,799,801,803,804,806,808,810,812,814,816,818,820,821,823,825,827,829,830,831,833,835,837,839,841,843,845,846,848,850,852,854,856,858,860,862,864,866,868,870,872,874,876,878,881,883,885,887,889,891,894,896,898,900,902,904,907,909,911,913,915,916,919,921,923,924,925,926,929,930,932,934,935,936,939,941,943,945,947],[239,239,239,733,241,239,241,241,239],2.32,[243,239,239,592,241,239,241,241,239],[246,239,239,736,241,239,241,241,239],1.17,[249,239,239,87,239,239,241,241,239],[252,239,239,739,241,239,241,241,239],1.1,[255,239,239,329,241,239,241,241,239],[239,239,243,742,241,239,241,241,239],1.16,[243,239,243,744,241,239,241,241,239],0.38,[246,239,243,437,241,239,241,241,239],[249,239,243,87,239,239,241,241,239],[252,239,243,748,241,239,241,241,239],0.19,[255,239,243,273,241,239,241,241,239],[239,239,246,751,241,239,241,241,239],6.73,[243,239,246,753,241,239,241,241,239],1.46,[246,239,246,340,241,239,241,241,239],[249,239,246,756,241,239,241,241,239],4.49,[252,239,246,758,241,239,241,241,239],1.65,[255,239,246,311,241,239,241,241,239],[239,239,249,761,241,239,241,241,239],1.94,[243,239,249,289,241,239,241,241,239],[246,239,249,397,241,239,241,241,239],[249,239,249,326,241,239,241,241,239],[252,239,249,450,241,239,241,241,239],[255,239,249,767,241,239,241,241,239],0.11,[239,239,252,281,241,239,241,241,239],[243,239,252,435,241,239,241,241,239],[246,239,252,460,241,239,241,241,239],[249,239,252,407,241,239,241,241,239],[252,239,252,273,241,239,241,241,239],[255,239,252,414,241,239,241,241,239],[239,239,255,456,241,239,241,241,239],[243,239,255,753,241,239,241,241,239],[246,239,255,558,241,239,241,241,239],[249,239,255,342,241,239,241,241,239],[252,239,255,779,241,239,241,241,239],0.18,[255,239,255,767,241,239,241,241,239],[239,239,258,782,241,239,241,241,239],1.71,[243,239,258,262,241,239,241,241,239],[246,239,258,384,241,239,241,241,239],[249,239,258,786,241,239,241,241,239],0.62,[252,239,258,247,241,239,241,241,239],[255,239,258,452,241,239,241,241,239],[239,239,261,790,241,239,241,241,239],3.32,[243,239,261,792,241,239,241,241,239],1.86,[246,239,261,794,241,239,241,241,239],1.18,[249,239,261,403,241,239,241,241,239],[252,239,261,797,241,239,241,241,239],1.12,[255,239,261,311,241,239,241,241,239],[239,239,264,800,241,239,241,241,239],4.2,[243,239,264,802,241,239,241,241,239],1.28,[246,239,264,758,241,239,241,241,239],[249,239,264,805,241,239,241,241,239],2.36,[252,239,264,807,241,239,241,241,239],2.45,[255,239,264,809,241,239,241,241,239],0.91,[239,239,267,811,241,239,241,241,239],3.78,[243,239,267,813,241,239,241,241,239],1.49,[246,239,267,815,241,239,241,241,239],2.16,[249,239,267,817,241,239,241,241,239],1.4,[252,239,267,819,241,239,241,241,239],2.92,[255,239,267,364,241,239,241,241,239],[239,239,269,822,241,239,241,241,239],2.75,[243,239,269,824,241,239,241,241,239],0.96,[246,239,269,826,241,239,241,241,239],1.33,[249,239,269,828,241,239,241,241,239],1.51,[252,239,269,281,241,239,241,241,239],[255,239,269,279,241,239,241,241,239],[239,239,272,832,241,239,241,241,239],3.35,[243,239,272,834,241,239,241,241,239],2.99,[246,239,272,836,241,239,241,241,239],13.72,[249,239,272,838,241,239,241,241,239],1.67,[252,239,272,840,241,239,241,241,239],2.57,[255,239,272,842,241,239,241,241,239],3.05,[239,239,634,844,241,239,241,241,239],4.67,[243,239,634,832,241,239,241,241,239],[246,239,634,847,241,239,241,241,239],11.32,[249,239,634,849,241,239,241,241,239],2.24,[252,239,634,851,241,239,241,241,239],2.82,[255,239,634,853,241,239,241,241,239],2.67,[239,239,641,855,241,239,241,241,239],2.53,[243,239,641,857,241,239,241,241,239],3.54,[246,239,641,859,241,239,241,241,239],31.23,[249,239,641,861,241,239,241,241,239],3.7,[252,239,641,863,241,239,241,241,239],3.25,[255,239,641,865,241,239,241,241,239],1.56,[239,239,649,867,241,239,241,241,239],1.77,[243,239,649,869,241,239,241,241,239],6.72,[246,239,649,871,241,239,241,241,239],12.92,[249,239,649,873,241,239,241,241,239],3.91,[252,239,649,875,241,239,241,241,239],7.78,[255,239,649,877,241,239,241,241,239],2.05,[239,239,879,880,241,239,241,241,239],15,2.15,[243,239,879,882,241,239,241,241,239],7.75,[246,239,879,884,241,239,241,241,239],12.74,[249,239,879,886,241,239,241,241,239],3.98,[252,239,879,888,241,239,241,241,239],3.55,[255,239,879,890,241,239,241,241,239],2.01,[239,239,892,893,241,239,241,241,239],16,3.62,[243,239,892,895,241,239,241,241,239],11.98,[246,239,892,897,241,239,241,241,239],18.88,[249,239,892,899,241,239,241,241,239],3.95,[252,239,892,901,241,239,241,241,239],1.43,[255,239,892,903,241,239,241,241,239],2.77,[239,239,905,906,241,239,241,241,239],17,0.5,[243,239,905,908,241,239,241,241,239],0.42,[246,239,905,910,241,239,241,241,239],5.41,[249,239,905,912,241,239,241,241,239],3.26,[252,239,905,914,241,239,241,241,239],0.75,[255,239,905,908,241,239,241,241,239],[239,239,917,918,241,239,241,241,239],18,0.95,[243,239,917,920,241,239,241,241,239],0.67,[246,239,917,922,241,239,241,241,239],4.15,[249,239,917,275,241,239,241,241,239],[252,239,917,446,241,239,241,241,239],[255,239,917,646,241,239,241,241,239],[239,239,927,928,241,239,241,241,239],19,1.39,[243,239,927,304,241,239,241,241,239],[246,239,927,931,241,239,241,241,239],8.53,[249,239,927,933,241,239,241,241,239],3.65,[252,239,927,797,241,239,241,241,239],[255,239,927,744,241,239,241,241,239],[239,239,937,938,241,239,241,241,239],20,2.33,[243,239,937,940,241,239,241,241,239],4.25,[246,239,937,942,241,239,241,241,239],13.21,[249,239,937,944,241,239,241,241,239],3.09,[252,239,937,946,241,239,241,241,239],2.68,[255,239,937,782,241,239,241,241,239],[949],"failed",[503],[],[],[954],"Absolute translation error (RMSE, m), all systems in real-time mode on the desktop PC; 'x' = system totally failed. Ablation columns (Ours VIO, LIO, w\u002Fo F2M, Marg. F2M, w\u002Fo calib.) omitted here. MARS-LVIG ground truth re-derived by the authors with post-processed RTK\u002FINS; i2Nav-Robot ground-truth source not described in this paper. Average rows printed by the authors.",{"slug":956,"group":957,"sourceId":5,"sourceLabel":6,"table":958,"selfRows":937,"metrics":959,"seqs":982,"entrants":1005,"cells":1010,"outcomes":1051,"locators":1052,"hardware":1054,"wordings":1056,"notes":1057},"r3live2022-table-iv","r3live2022:Table IV","Table IV",[960,964,966,968,970,972,974,976,978,980],{"label":961,"unit":962,"statistic":963,"alignment":44},"VIO per-frame cost time (ms), image 320x256, map resolution 0.10 m","ms","mean",{"label":965,"unit":962,"statistic":963,"alignment":44},"VIO per-frame cost time (ms), image 320x256, map resolution 0.05 m",{"label":967,"unit":962,"statistic":963,"alignment":44},"VIO per-frame cost time (ms), image 320x256, map resolution 0.01 m",{"label":969,"unit":962,"statistic":963,"alignment":44},"VIO per-frame cost time (ms), image 640x512, map resolution 0.10 m",{"label":971,"unit":962,"statistic":963,"alignment":44},"VIO per-frame cost time (ms), image 640x512, map resolution 0.05 m",{"label":973,"unit":962,"statistic":963,"alignment":44},"VIO per-frame cost time (ms), image 640x512, map resolution 0.01 m",{"label":975,"unit":962,"statistic":963,"alignment":44},"VIO per-frame cost time (ms), image 1280x1024, map resolution 0.10 m",{"label":977,"unit":962,"statistic":963,"alignment":44},"VIO per-frame cost time (ms), image 1280x1024, map resolution 0.05 m",{"label":979,"unit":962,"statistic":963,"alignment":44},"VIO per-frame cost time (ms), image 1280x1024, map resolution 0.01 m",{"label":981,"unit":962,"statistic":963,"alignment":44},"LIO per-frame cost time (ms)",[983,987,989,991,993,995,997,999,1001,1003],{"dataset":984,"sequence":985,"environment":986},"all R3LIVE experiments","image 320x256, Pc res 0.10 m","mixed",{"dataset":984,"sequence":988,"environment":986},"image 320x256, Pc res 0.05 m",{"dataset":984,"sequence":990,"environment":986},"image 320x256, Pc res 0.01 m",{"dataset":984,"sequence":992,"environment":986},"image 640x512, Pc res 0.10 m",{"dataset":984,"sequence":994,"environment":986},"image 640x512, Pc res 0.05 m",{"dataset":984,"sequence":996,"environment":986},"image 640x512, Pc res 0.01 m",{"dataset":984,"sequence":998,"environment":986},"image 1280x1024, Pc res 0.10 m",{"dataset":984,"sequence":1000,"environment":986},"image 1280x1024, Pc res 0.05 m",{"dataset":984,"sequence":1002,"environment":986},"image 1280x1024, Pc res 0.01 m",{"dataset":984,"sequence":1004,"environment":986},"LIO",[1006,1008],{"name":1007,"methodId":5,"linkable":222,"proposed":222,"self":222},"R3LIVE VIO",{"name":1009,"methodId":5,"linkable":222,"proposed":222,"self":222},"R3LIVE LIO",[1011,1013,1015,1017,1019,1021,1023,1025,1027,1029,1031,1033,1035,1037,1039,1041,1043,1045,1047,1049],[239,239,239,1012,241,239,239,241,239],7.08,[239,239,239,1014,241,239,243,241,239],15.3,[239,243,243,1016,241,239,239,241,239],8.43,[239,243,243,1018,241,239,243,241,239],21.69,[239,246,246,1020,241,239,239,241,239],16.78,[239,246,246,1022,241,239,243,241,239],43.79,[239,249,249,1024,241,239,239,241,239],10.38,[239,249,249,1026,241,239,243,241,239],23.71,[239,252,252,1028,241,239,239,241,239],11.74,[239,252,252,1030,241,239,243,241,239],34.7,[239,255,255,1032,241,239,239,241,239],20.67,[239,255,255,1034,241,239,243,241,239],47.99,[239,258,258,1036,241,239,239,241,239],12.13,[239,258,258,1038,241,239,243,241,239],30.38,[239,261,261,1040,241,239,239,241,239],13.19,[239,261,261,1042,241,239,243,241,239],42.43,[239,264,264,1044,241,239,239,241,239],23.17,[239,264,264,1046,241,239,243,241,239],61.34,[243,267,267,1048,241,239,239,241,239],18.4,[243,267,267,1050,241,239,243,241,239],39.56,[],[1053],"VoR Table IV",[107,1055],"on-board computer 'OB' (Intel i7-8550U CPU, 8 GB RAM; described as a UAV on-board computer in Sec. VI-E, not in the table)",[],[1058],"Average per-frame time over all experiments; VIO time depends on image size and map point resolution (Pc res). Version-of-record values; arXiv v1 Table IV reports higher VIO times (for example 43.71 ms PC and 166.08 ms OB at 1280x1024 and 0.01 m)",[1060,1064,1071,1079,1086,1093,1098,1105,1112,1119,1123,1128,1132,1136,1143,1148,1153,1158,1164,1170,1176],{"group":1061,"slug":1062,"sourceLabel":502,"table":163,"selfRows":917,"datasets":1063},"srlivo2024:Table III","srlivo2024-table-iii",[527],{"group":1065,"slug":1066,"sourceLabel":1067,"table":1068,"selfRows":917,"datasets":1069},"wei2025fusionportablev2:Table 6","wei2025fusionportablev2-table-6","Wei et al., 2025a","Table 6",[1070],"FusionPortableV2",{"group":1072,"slug":1073,"sourceLabel":1074,"table":503,"selfRows":905,"datasets":1075},"fastlivo2_2025:Table II","fastlivo2-2025-table-ii","Zheng et al., 2025",[1076,1077,1078],"Hilti'22","Hilti'23","NTU-VIRAL, Hilti'22, Hilti'23",{"group":1080,"slug":1081,"sourceLabel":1082,"table":1083,"selfRows":905,"datasets":1084},"fastlivo2rc2025:Table I","fastlivo2rc2025-table-i","Zhou et al., 2025","Table I",[1076,1085,1077],"Hilti'22 and Hilti'23",{"group":1087,"slug":1088,"sourceLabel":1089,"table":1090,"selfRows":879,"datasets":1091},"chen2025geode:Table 5","chen2025geode-table-5","Chen et al., 2025b","Table 5",[1092],"GEODE",{"group":1094,"slug":1095,"sourceLabel":502,"table":1096,"selfRows":879,"datasets":1097},"srlivo2024:Table VI","srlivo2024-table-vi","Table VI",[527,513],{"group":1099,"slug":1100,"sourceLabel":1101,"table":1102,"selfRows":649,"datasets":1103},"gslivm2025:Supp. Table 7","gslivm2025-supp-table-7","Xie et al., 2025","Supp. Table 7",[1104],"Botanic Garden",{"group":1106,"slug":1107,"sourceLabel":1108,"table":163,"selfRows":269,"datasets":1109},"cocolic2023:Table III","cocolic2023-table-iii","Lang et al., 2023",[1110,1111],"FAST-LIVO dataset","R3LIVE dataset",{"group":1113,"slug":1114,"sourceLabel":1115,"table":503,"selfRows":269,"datasets":1116},"gslivo2025:Table II","gslivo2025-table-ii","Hong et al., 2025",[699,1117,1118],"Oxford Spires","proprietary (MoCap)",{"group":1120,"slug":1121,"sourceLabel":502,"table":1083,"selfRows":267,"datasets":1122},"srlivo2024:Table I","srlivo2024-table-i",[527],{"group":1124,"slug":1125,"sourceLabel":6,"table":503,"selfRows":264,"datasets":1126},"r3live2022:Table II","r3live2022-table-ii",[1127],"R3LIVE Experiment-2 (authors' data)",{"group":1129,"slug":1130,"sourceLabel":1067,"table":1090,"selfRows":264,"datasets":1131},"wei2025fusionportablev2:Table 5","wei2025fusionportablev2-table-5",[1070],{"group":1133,"slug":1134,"sourceLabel":666,"table":163,"selfRows":261,"datasets":1135},"palvio2026:Table III","palvio2026-table-iii",[1111],{"group":1137,"slug":1138,"sourceLabel":1139,"table":1140,"selfRows":255,"datasets":1141},"feng2023bridgeslam:Table 3","feng2023bridgeslam-table-3","Feng et al., 2023","Table 3",[1142],"authors' bridge pier field data",{"group":1144,"slug":1145,"sourceLabel":1074,"table":163,"selfRows":252,"datasets":1146},"fastlivo2_2025:Table III","fastlivo2-2025-table-iii",[1076,1147],"Hilti'22, Hilti'23, NTU-VIRAL, FAST-LIVO2 private",{"group":1149,"slug":1150,"sourceLabel":1074,"table":1151,"selfRows":252,"datasets":1152},"fastlivo2_2025:Text Sec.X-B","fastlivo2-2025-text-sec-x-b","Text Sec.X-B",[699],{"group":1154,"slug":1155,"sourceLabel":1139,"table":1156,"selfRows":246,"datasets":1157},"feng2023bridgeslam:Table 4","feng2023bridgeslam-table-4","Table 4",[1142],{"group":1159,"slug":1160,"sourceLabel":1139,"table":1161,"selfRows":246,"datasets":1162},"feng2023bridgeslam:Text Sec.3.3","feng2023bridgeslam-text-sec-3-3","Text Sec.3.3",[1163],"authors' light rail bridge data",{"group":1165,"slug":1166,"sourceLabel":6,"table":1167,"selfRows":246,"datasets":1168},"r3live2022:Text Sec.VI-B","r3live2022-text-sec-vi-b","Text Sec.VI-B",[1169],"R3LIVE Experiment-1 (authors' data)",{"group":1171,"slug":1172,"sourceLabel":1173,"table":1140,"selfRows":243,"datasets":1174},"ghadimzadeh2025slamnde:Table 3","ghadimzadeh2025slamnde-table-3","Ghadimzadeh Alamdari et al., 2025",[1175],"Luleå SubT tunnel dataset (Koval et al. 2022)",{"group":1177,"slug":1178,"sourceLabel":1179,"table":1096,"selfRows":243,"datasets":1180},"r3livepp2024:Table VI","r3livepp2024-table-vi","Lin & Zhang, 2024",[1181],"R3LIVE-dataset",1790510655528]