Environments Methods Std RMSE Max Min Median Mean
Scenario 1 LeGO-LOAM 0.5903 1.7565 2.7385 0.3270 1.6617 1.6543
Our Method 0.1580 0.3959 0.7843 0.0259 0.3660 0.3630
Scenario 2 LeGO-LOAM 1.6222 4.3098 7.0868 0.6900 4.4928 3.9928
Our Method 1.6214 3.4303 6.8039 0.9379 2.6744 3.0176
Scenario 3 LeGO-LOAM 2.0674 4.4524 9.6736 1.3287 3.4118 3.9433
Our Method 1.0688 2.3813 5.0699 0.6129 1.9879 2.1280
Scenario 4 LeGO-LOAM 1.4092 3.4979 7.7624 1.6429 2.7700 3.2015
Our Method 0.8221 2.3496 4.1792 0.1727 2.2008 2.2011