From 0dca5e55042240a89ca908e6aee44f22eb939b5b Mon Sep 17 00:00:00 2001 From: Marcin Matecki <93664696+marcinmatecki@users.noreply.github.com> Date: Sun, 30 Aug 2026 19:35:44 +0200 Subject: [PATCH] Revise benchmark links and add new entries Updated benchmark links and added new entries for LIO-related benchmarks. --- documentation/Benchmarks/LIO/README.md | 76 +++++++++++++------------- 1 file changed, 38 insertions(+), 38 deletions(-) diff --git a/documentation/Benchmarks/LIO/README.md b/documentation/Benchmarks/LIO/README.md index e12abfe5..c86e3e90 100644 --- a/documentation/Benchmarks/LIO/README.md +++ b/documentation/Benchmarks/LIO/README.md @@ -34,40 +34,43 @@ It is designed for a benchmark. - https://github.com/MapsHD/benchmark-HDMapping-ground-truth (2026, 'under review', [[movie]](https://youtu.be/8sHyUNC3mZs)) - [1] https://github.com/MapsHD/benchmark-HDMapping_LIO-to-HDMapping (2026, 'under review', [[movie]](https://youtu.be/9AUvPTLUcos)) -- [2] https://github.com/MapsHD/benchmark-BIEVR-LIO-to-HDMapping (2026, arXiv, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/bievr-lio.bib), movie ToDo) -- [3] https://github.com/MapsHD/benchmark-SE3-LIO-to-HDMapping (2026, ICRA, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/SE3-LIO.bib), movie ToDo) -- [4] https://github.com/MapsHD/benchmark-EllipseLIO-to-HDMapping (2026, arXiv, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/EllipseLIO.bib), movie ToDo) -- [5] https://github.com/MapsHD/benchmark-D-LIO-to-HDMapping (2026, RA-L, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/D-LIO.bib), movie ToDo) -- [6] https://github.com/MapsHD/benchmark-FORM-to-HDMapping (2026, ICRA, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/form.bib), [[movie]](https://youtu.be/2c2ySFIncyA)) -- [7] https://github.com/MapsHD/benchmark-Super-LIO-to-HDMapping (2026, RA-L, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/Super-LIO.bib), [[movie]](https://youtu.be/CQmLOdV_mQA)) -- [8] https://github.com/MapsHD/benchmark-DALI_SLAM-to-HDMapping (2025, Elsevier ISPRS, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/DALI-SLAM.bib)) -- [9] https://github.com/MapsHD/benchmark-lidar_odometry_ros_wrapper-to-HDMapping (2025, RA-L, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/lidar_odometry_ros_wrapper.bib), [[movie]](https://youtu.be/w233P_MZMWk)) -- [10] https://github.com/MapsHD/benchmark-SuperOdometry-to-HDMapping (2021, IROS, 2025, ICRA, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/SuperOdometry.bib), [[movie]](https://youtu.be/2bRunzG43sw)) -- [11] https://github.com/MapsHD/benchmark-mola_lidar_odometry-to-HDMapping (2025, IJRR, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/mola-lidar-odometry.bib), [[movie]](https://youtu.be/KcVTTurel44)) -- [12] https://github.com/MapsHD/benchmark-RESPLE-to-HDMapping (2025, RA-L, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/RESPLE.bib), [[movie]](https://youtu.be/5PAB4xJmMoo)) (ToDo --> add to automated benchmark) -- [13] https://github.com/MapsHD/benchmark-GenZ-ICP-to-HDMapping (2025, RA-L, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/GenZ-ICP.bib), [[movie]](https://youtu.be/vgGkucOBVg4)) -- [14] https://github.com/MapsHD/benchmark-MM-LINS-to-HDMapping (2025, TIV, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/MM-LINS.bib), movie ToDo) -- [15] https://github.com/MapsHD/benchmark-PIN-SLAM-to-HDMapping (2024, TRO, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/PIN-SLAM.bib), movie ToDo) -- [16] https://github.com/MapsHD/benchmark-SR-LIO-to-HDMapping (2024, IROS, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/sr-lio.bib), movie ToDo) -- [17] https://github.com/MapsHD/benchmark-Voxel-SLAM-to-HDMapping (2024, arXiv, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/Voxel-SLAM.bib), 2nd place ICRA HILTI 2023 SLAM Challenge, 1st place ICCV 2023 SLAM Challenge, movie ToDo) -- [18] https://github.com/MapsHD/benchmark-NV-LIOM-to-HDMapping (2024, RA-L, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/NV-LIOM.bib), movie ToDo) -- [19] https://github.com/MapsHD/benchmark-c3p-voxelmap-to-HDMapping (2024, arXiv, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/c3p-voxelmap.bib), movie ToDo) -- [20] https://github.com/MapsHD/benchmark-I2EKF-LO-to-HDMapping (2024, arXiv, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/I2EKF-LO.bib), [[movie]](https://youtu.be/B2358Gn62Ho)) -- [21] https://github.com/MapsHD/benchmark-LIO-EKF-to-HDMapping (2024, ICRA, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/LIO-EKF.bib), [[movie]](https://youtu.be/R4Cn1LJ4U_E)) -- [22] https://github.com/MapsHD/benchmark-iG-LIO-to-HDMapping (2024, RA-L, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/iG-LIO.bib), [[movie]](https://youtu.be/KlZf7nHeVmI)) -- [23] https://github.com/MapsHD/benchmark-GLIM-to-HDMapping (2024, arXiv, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/GLIM.bib), [[movie]](https://youtu.be/zyZDJECqOG0)) -- [24] https://github.com/MapsHD/benchmark-Point-LIO-to-HDMapping (2024, JAIS, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/Point-LIO.bib), [[movie]](https://youtu.be/JlD1hDJHcrs)) -- [25] https://github.com/MapsHD/benchmark-LOG-LIO2-to-HDMapping (2024, arXiv, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/LOG-LIO2.bib), movie ToDo) -- [26] https://github.com/MapsHD/benchmark-DLIO-to-HDMapping (2023, ICRA, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/DLIO.bib), [[movie]](https://youtu.be/xFLqFcoAtk8)) -- [27] https://github.com/MapsHD/benchmark-SLICT-to-HDMapping (2023, RA-L, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/SLICT.bib), [[movie]](https://youtu.be/TUaJN7FJOFU)) -- [28] https://github.com/MapsHD/benchmark-KISS-ICP-to-HDMapping (2023, RA-L, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/KISS-ICP.bib), [[movie]](https://youtu.be/GyB8UuQN0Io)) -- [29] https://github.com/MapsHD/benchmark-Faster-LIO-to-HDMapping (2022, RA-L, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/Faster-LIO.bib), [[movie]](https://youtu.be/bV1jgF_m-Zo)) -- [30] https://github.com/MapsHD/benchmark-VoxelMap-to-HDMapping (2022, arXiv, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/VoxelMap.bib), [[movie]](https://youtu.be/oRiuvJRNl-c)) -- [31] https://github.com/MapsHD/benchmark-DLO-to-HDMapping (2022, RA-L, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/DLO.bib), [[movie]](https://youtu.be/-UH81mNLw8Q)) -- [32] https://github.com/MapsHD/benchmark-CT-ICP-to-HDMapping (2021, arXiv, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/CT-ICP.bib), [[movie]](https://youtu.be/swEsJHwtE50)) -- [33] https://github.com/MapsHD/benchmark-FAST-LIO-to-HDMapping (2020, arXiv, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/FAST-LIO.bib), [[movie]](https://youtu.be/ENlaQTtOXEM)) -- [34] https://github.com/MapsHD/benchmark-LOAM-Livox-to-HDMapping (2019, arXiv, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/loam_livox.bib), [[movie]](https://youtu.be/MbKHTmUcI2w)) -- [35] https://github.com/MapsHD/benchmark-LeGO-LOAM-to-HDMapping (2018, IROS, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/legoloam2018.bib), [[movie]](https://youtu.be/WpFBXe1zKto)) +- [2] https://github.com/MapsHD/benchmark-rko_lio-to-HDMapping (2026, RA-L, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/RKO-LIO.bib), movie ToDo) +- [3] https://github.com/MapsHD/benchmark-R-VoxelMap-to-HDMapping (2026, RA-L, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/R-VoxelMap.bib), movie ToDo) +- [4] https://github.com/MapsHD/benchmark-BIEVR-LIO-to-HDMapping (2026, arXiv, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/bievr-lio.bib), movie ToDo) +- [5] https://github.com/MapsHD/benchmark-SE3-LIO-to-HDMapping (2026, ICRA, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/SE3-LIO.bib), movie ToDo) +- [6] https://github.com/MapsHD/benchmark-EllipseLIO-to-HDMapping (2026, arXiv, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/EllipseLIO.bib), movie ToDo) +- [7] https://github.com/MapsHD/benchmark-D-LIO-to-HDMapping (2026, RA-L, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/D-LIO.bib), movie ToDo) +- [8] https://github.com/MapsHD/benchmark-FORM-to-HDMapping (2026, ICRA, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/form.bib), [[movie]](https://youtu.be/2c2ySFIncyA)) +- [9] https://github.com/MapsHD/benchmark-Super-LIO-to-HDMapping (2026, RA-L, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/Super-LIO.bib), [[movie]](https://youtu.be/CQmLOdV_mQA)) +- [10] https://github.com/MapsHD/benchmark-DALI_SLAM-to-HDMapping (2025, Elsevier ISPRS, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/DALI-SLAM.bib)) +- [11] https://github.com/MapsHD/benchmark-lidar_odometry_ros_wrapper-to-HDMapping (2025, RA-L, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/lidar_odometry_ros_wrapper.bib), [[movie]](https://youtu.be/w233P_MZMWk)) +- [12] https://github.com/MapsHD/benchmark-SuperOdometry-to-HDMapping (2021, IROS, 2025, ICRA, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/SuperOdometry.bib), [[movie]](https://youtu.be/2bRunzG43sw)) +- [13] https://github.com/MapsHD/benchmark-mola_lidar_odometry-to-HDMapping (2025, IJRR, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/mola-lidar-odometry.bib), [[movie]](https://youtu.be/KcVTTurel44)) +- [14] https://github.com/MapsHD/benchmark-RESPLE-to-HDMapping (2025, RA-L, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/RESPLE.bib), [[movie]](https://youtu.be/5PAB4xJmMoo)) (ToDo --> add to automated benchmark) +- [15] https://github.com/MapsHD/benchmark-GenZ-ICP-to-HDMapping (2025, RA-L, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/GenZ-ICP.bib), [[movie]](https://youtu.be/vgGkucOBVg4)) +- [16] https://github.com/MapsHD/benchmark-MM-LINS-to-HDMapping (2025, TIV, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/MM-LINS.bib), movie ToDo) +- [17] https://github.com/MapsHD/benchmark-PIN-SLAM-to-HDMapping (2024, TRO, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/PIN-SLAM.bib), movie ToDo) +- [18] https://github.com/MapsHD/benchmark-SR-LIO-to-HDMapping (2024, IROS, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/sr-lio.bib), movie ToDo) +- [19] https://github.com/MapsHD/benchmark-Voxel-SLAM-to-HDMapping (2024, arXiv, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/Voxel-SLAM.bib), 2nd place ICRA HILTI 2023 SLAM Challenge, 1st place ICCV 2023 SLAM Challenge, movie ToDo) +- [20] https://github.com/MapsHD/benchmark-NV-LIOM-to-HDMapping (2024, RA-L, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/NV-LIOM.bib), movie ToDo) +- [21] https://github.com/MapsHD/benchmark-c3p-voxelmap-to-HDMapping (2024, arXiv, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/c3p-voxelmap.bib), movie ToDo) +- [22] https://github.com/MapsHD/benchmark-I2EKF-LO-to-HDMapping (2024, arXiv, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/I2EKF-LO.bib), [[movie]](https://youtu.be/B2358Gn62Ho)) +- [23] https://github.com/MapsHD/benchmark-LIO-EKF-to-HDMapping (2024, ICRA, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/LIO-EKF.bib), [[movie]](https://youtu.be/R4Cn1LJ4U_E)) +- [24] https://github.com/MapsHD/benchmark-iG-LIO-to-HDMapping (2024, RA-L, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/iG-LIO.bib), [[movie]](https://youtu.be/KlZf7nHeVmI)) +- [25] https://github.com/MapsHD/benchmark-GLIM-to-HDMapping (2024, arXiv, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/GLIM.bib), [[movie]](https://youtu.be/zyZDJECqOG0)) +- [26] https://github.com/MapsHD/benchmark-Point-LIO-to-HDMapping (2024, JAIS, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/Point-LIO.bib), [[movie]](https://youtu.be/JlD1hDJHcrs)) +- [27] https://github.com/MapsHD/benchmark-LOG-LIO2-to-HDMapping (2024, arXiv, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/LOG-LIO2.bib), movie ToDo) +- [28] https://github.com/MapsHD/benchmark-PV-LIO-to-HDMapping (2023, no publication, movie ToDo) +- [29] https://github.com/MapsHD/benchmark-DLIO-to-HDMapping (2023, ICRA, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/DLIO.bib), [[movie]](https://youtu.be/xFLqFcoAtk8)) +- [30] https://github.com/MapsHD/benchmark-SLICT-to-HDMapping (2023, RA-L, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/SLICT.bib), [[movie]](https://youtu.be/TUaJN7FJOFU)) +- [31] https://github.com/MapsHD/benchmark-KISS-ICP-to-HDMapping (2023, RA-L, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/KISS-ICP.bib), [[movie]](https://youtu.be/GyB8UuQN0Io)) +- [32] https://github.com/MapsHD/benchmark-Faster-LIO-to-HDMapping (2022, RA-L, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/Faster-LIO.bib), [[movie]](https://youtu.be/bV1jgF_m-Zo)) +- [33] https://github.com/MapsHD/benchmark-VoxelMap-to-HDMapping (2022, arXiv, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/VoxelMap.bib), [[movie]](https://youtu.be/oRiuvJRNl-c)) +- [34] https://github.com/MapsHD/benchmark-DLO-to-HDMapping (2022, RA-L, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/DLO.bib), [[movie]](https://youtu.be/-UH81mNLw8Q)) +- [35] https://github.com/MapsHD/benchmark-CT-ICP-to-HDMapping (2021, arXiv, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/CT-ICP.bib), [[movie]](https://youtu.be/swEsJHwtE50)) +- [36] https://github.com/MapsHD/benchmark-FAST-LIO-to-HDMapping (2020, arXiv, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/FAST-LIO.bib), [[movie]](https://youtu.be/ENlaQTtOXEM)) +- [37] https://github.com/MapsHD/benchmark-LOAM-Livox-to-HDMapping (2019, arXiv, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/loam_livox.bib), [[movie]](https://youtu.be/MbKHTmUcI2w)) +- [38] https://github.com/MapsHD/benchmark-LeGO-LOAM-to-HDMapping (2018, IROS, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/legoloam2018.bib), [[movie]](https://youtu.be/WpFBXe1zKto)) [[qualitative evaluation benchmark movie]](https://youtu.be/C0CcG9vAokY) [[quantitative evaluation benchmark movie]](https://youtu.be/PsJaXpWFAis) @@ -123,9 +126,6 @@ Required PCD format: - https://github.com/KTH-RPL/DynamicMap_Benchmark (2023, ITSC, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/dufomap.bib), dynamic scenes) ToDo Build Success: -- https://github.com/PRBonn/rko_lio (2026) -- https://github.com/NKU-MobFly-Robotics/R-VoxelMap (2026, RA-L, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/R-VoxelMap.bib)) - Marcin -- https://github.com/HViktorTsoi/PV-LIO (2023, no publication) - Marcin - https://github.com/SlamCabbage/Optimized-SC-F-LOAM (2022, CVCI, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/SC-F-LOAM.bib)) - Marcin (Scan Context-based loop closure) - https://github.com/wh200720041/floam (2021, IROS, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/F-LOAM.bib)) - Piotr 1 - https://github.com/MapsHD/benchmark-LIO-SAM-to-HDMapping (2020, IROS, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/LIO-SAM.bib), with loop closures) - Piotr 2 @@ -134,7 +134,7 @@ ToDo Build Success: ToDo Build issues: - https://github.com/xuankuzcr/Global-LVBA (2025, no publication) - https://github.com/sjtuyinjie/Ground-Fusion2 (2025, IROS, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/Ground-Fusion2.bib)) -- https://github.com/ethz-asl/COIN-LIO (2024, ICRA, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/COIN-LIO.bib)) (solved https://github.com/MapsHD/HDMapping/tree/main/documentation/Benchmarks/LIO%2B) +- https://github.com/ethz-asl/COIN-LIO (2024, ICRA, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/COIN-LIO.bib)) - https://github.com/deepuav/AdaTrajLo (2024, RA-L, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/Traj-LO.bib)) - https://github.com/StephLin/LIO-SEGMOT (2023, ICRA, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/LIO-SEGMOT.bib)) - https://github.com/XikunLiu-huskit/GLIO (2023, TIV, [[BIB]](https://github.com/MapsHD/HDMapping/blob/main/bib/GLIO.bib))