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JanuszBedkowski merged 1 commit into from
Aug 30, 2026
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Revise benchmark links and add new entries #512

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76 changes: 38 additions & 38 deletions documentation/Benchmarks/LIO/README.md
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Expand Up @@ -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)
Expand Down Expand Up @@ -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
Expand All @@ -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))
Expand Down
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