{"id":2237,"date":"2026-09-16T13:14:36","date_gmt":"2026-09-16T11:14:36","guid":{"rendered":"https:\/\/www.ideas.edu.pl\/?post_type=publikacje&#038;p=2237"},"modified":"2026-09-16T13:14:36","modified_gmt":"2026-09-16T11:14:36","slug":"mapshd-a-benchmark-suite-for-lidar-odometry-frameworks","status":"publish","type":"publikacje","link":"https:\/\/www.ideas.edu.pl\/en\/publikacje\/mapshd-a-benchmark-suite-for-lidar-odometry-frameworks\/","title":{"rendered":"MapsHD: A benchmark suite for LiDAR odometry frameworks"},"content":{"rendered":"<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p class=\"wp-block-paragraph\">This paper describes a software toolbox for the qualitative and quantitative evaluation of LiDAR (Light Detection and Ranging) and LiDAR-Inertial Odometry. We provide software as <a href=\"https:\/\/github.com\/MapsHD\" target=\"_blank\" rel=\"noopener noreferrer nofollow\">https:\/\/github.com\/MapsHD<\/a> organization with all necessary information at <a href=\"https:\/\/github.com\/MapsHD\/HDMapping\" target=\"_blank\" rel=\"noopener noreferrer nofollow\">https:\/\/github.com\/MapsHD\/HDMapping<\/a>. Our software contributions include a) a ground truth data processing tool, b) Dockerized state-of-the-art LO and LIO algorithms, c) multi-session data registration to a common coordinate system, d) Absolute Pose Error (APE) and Relative Pose Error (RPE) metrics, e) import\/export tools for state-of-the-art LO and LIO algorithms, f) multi-session data registration to a common coordinate system, g) Absolute Pose Error (APE) and Relative Pose Error (RPE) metrics-of-the-art LO and LIO algorithms, c) multi-session data registration to a common coordinate system, d) Absolute Pose Error (APE) and Relative Pose Error (RPE) metrics, e) import\/export tools for easier 3D data handling and visualization, e.g., in Cloud Compare software. This software is compatible with ROS1 (Robot Operating System) and ROS2 data formats. We present an example benchmark of the LeGO-LOAM, LIO-SAM, FAST-LIO, DLO, VoxelMap, Faster-LIO, KISS-ICP, CT-ICP, SLICT, DLIO, GLIM, iG-LIO, LIO-EKF, I2EKF-LO, GenZ-ICP, RESPLE, odometryroswrapper, Point-LIO, and LOAM-Livox algorithms. We provide videos for all experiments. The contribution of this paper is a software-oriented LO\/LIO algorithm benchmark suite. The novelty lies in the integration of multiple benchmarking steps into a unified framework, thereby reducing the overall effort required for qualitative and quantitative evaluation.<\/p>\n<\/blockquote>\n\n\n\n<p class=\"wp-block-paragraph\">Authors: Janusz B\u0119dkowski, Micha\u0142 Pe\u0142ka, Karol Majek, Marcin Matecki, Adrian Radulescu, Charles Hamesse, Ethan Decleyn, Przemys\u0142aw Lekston, Tomasz Owerko, Przemys\u0142aw Kuras, Micha\u0142 Ciszewski, Jakub Kolecki, Karolina Tomaszkiewicz, \u0141ukasz Ambrozi\u0144ski, Joanna Koszyk, Bartosz Hyla, Karolina Pargie\u0142a, Anna Malczewska, Tomasz Lipecki, Artur Adamek, Bartosz Mitka, Przemys\u0142aw Klapa, Pelagia Gawronek, Martin Mokros, Jozef V\u00fdbo\u0161tok, Juli\u00e1na Chud\u00e1, Michal Skladan, Carlos Cabo, Kim Andr\u00e9 Anstensen, Daniel-Marian Craciun, Antun Jakopec, Michal Wlasiuk, Kornel Mrozowski, Maksymilian Kulicki, Krzysztof Stere\u0144czak, Oskar Bartosz, Jakub Markiewicz, S\u0142awomir \u0141api\u0144ski, Adam Kostrzewa, Mariana Campos, Machi Zawidzki, Jacek Szklarski, Rami Faraj, Loris Redovnikovi\u0107, Jurica Jageti\u0107, Samer Karam, R\u0103zvan Dumbrav\u0103, Milosz Mielcarek, Grzegorz Krok, Michal Laszkowski, Jaroslaw Wajs, Jakub Chudzi\u0144ski<\/p>\n\n\n\n<div style=\"height:64px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n\n<div class=\"wp-block-group is-layout-grid wp-container-core-group-is-layout-5ab56a3c wp-block-group-is-layout-grid\"><\/div>\n\n\n\n<div class=\"wp-block-group is-layout-grid wp-container-core-group-is-layout-5ab56a3c wp-block-group-is-layout-grid\"><\/div>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>","protected":false},"template":"","nazwa-konferencji":[],"rodzaj-publikacji":[38],"rok-publikacji":[27],"class_list":["post-2237","publikacje","type-publikacje","status-publish","hentry","rodzaj-publikacji-artykul-w-czasopismie","rok-publikacji-27"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v28.5 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>MapsHD: A benchmark suite for LiDAR odometry frameworks &#8226; IDEAS Instytut Badawczy<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.ideas.edu.pl\/en\/publikacje\/mapshd-a-benchmark-suite-for-lidar-odometry-frameworks\/\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"MapsHD: A benchmark suite for LiDAR odometry frameworks &#8226; IDEAS Instytut Badawczy\" \/>\n<meta property=\"og:description\" content=\"This paper describes a software toolbox for LiDAR (Light Detection and Ranging) and LiDAR-Inertial Odometry qualitative and quantitative evaluation. We provide software as https:\/\/github.com\/MapsHD organization with all necessary information at https:\/\/github.com\/MapsHD\/HDMapping. Our software contributions are a) ground truth data processing tool, b) dockerized state-of-the-art LO and LIO algorithms, c) multi-session data registration to common coordinate [&hellip;]\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www.ideas.edu.pl\/en\/publikacje\/mapshd-a-benchmark-suite-for-lidar-odometry-frameworks\/\" \/>\n<meta property=\"og:site_name\" content=\"IDEAS Instytut Badawczy\" \/>\n<meta property=\"og:image\" content=\"https:\/\/www.ideas.edu.pl\/wp-content\/uploads\/feature-image-home.webp\" \/>\n\t<meta property=\"og:image:width\" content=\"1800\" \/>\n\t<meta property=\"og:image:height\" content=\"945\" \/>\n\t<meta property=\"og:image:type\" content=\"image\/webp\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"Est. reading time\" \/>\n\t<meta name=\"twitter:data1\" content=\"1 minute\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\\\/\\\/schema.org\",\"@graph\":[{\"@type\":\"WebPage\",\"@id\":\"https:\\\/\\\/www.ideas.edu.pl\\\/publikacje\\\/mapshd-a-benchmark-suite-for-lidar-odometry-frameworks\\\/\",\"url\":\"https:\\\/\\\/www.ideas.edu.pl\\\/publikacje\\\/mapshd-a-benchmark-suite-for-lidar-odometry-frameworks\\\/\",\"name\":\"MapsHD: A benchmark suite for LiDAR odometry frameworks &#8226; IDEAS Instytut Badawczy\",\"isPartOf\":{\"@id\":\"https:\\\/\\\/www.ideas.edu.pl\\\/#website\"},\"datePublished\":\"2026-09-16T11:14:36+00:00\",\"breadcrumb\":{\"@id\":\"https:\\\/\\\/www.ideas.edu.pl\\\/publikacje\\\/mapshd-a-benchmark-suite-for-lidar-odometry-frameworks\\\/#breadcrumb\"},\"inLanguage\":\"en-US\",\"potentialAction\":[{\"@type\":\"ReadAction\",\"target\":[\"https:\\\/\\\/www.ideas.edu.pl\\\/publikacje\\\/mapshd-a-benchmark-suite-for-lidar-odometry-frameworks\\\/\"]}]},{\"@type\":\"BreadcrumbList\",\"@id\":\"https:\\\/\\\/www.ideas.edu.pl\\\/publikacje\\\/mapshd-a-benchmark-suite-for-lidar-odometry-frameworks\\\/#breadcrumb\",\"itemListElement\":[{\"@type\":\"ListItem\",\"position\":1,\"name\":\"Strona g\u0142\u00f3wna\",\"item\":\"https:\\\/\\\/www.ideas.edu.pl\\\/\"},{\"@type\":\"ListItem\",\"position\":2,\"name\":\"Publikacje\",\"item\":\"https:\\\/\\\/www.ideas.edu.pl\\\/publikacje\\\/\"},{\"@type\":\"ListItem\",\"position\":3,\"name\":\"MapsHD: A benchmark suite for LiDAR odometry frameworks\"}]},{\"@type\":\"WebSite\",\"@id\":\"https:\\\/\\\/www.ideas.edu.pl\\\/#website\",\"url\":\"https:\\\/\\\/www.ideas.edu.pl\\\/\",\"name\":\"IDEAS Instytut Badawczy\",\"description\":\"Pa\u0144stwowa jednostka badawczo-naukowa\",\"publisher\":{\"@id\":\"https:\\\/\\\/www.ideas.edu.pl\\\/#organization\"},\"alternateName\":\"IDEAS\",\"potentialAction\":[{\"@type\":\"SearchAction\",\"target\":{\"@type\":\"EntryPoint\",\"urlTemplate\":\"https:\\\/\\\/www.ideas.edu.pl\\\/?s={search_term_string}\"},\"query-input\":{\"@type\":\"PropertyValueSpecification\",\"valueRequired\":true,\"valueName\":\"search_term_string\"}}],\"inLanguage\":\"en-US\"},{\"@type\":\"Organization\",\"@id\":\"https:\\\/\\\/www.ideas.edu.pl\\\/#organization\",\"name\":\"IDEAS Instytut Badawczy\",\"url\":\"https:\\\/\\\/www.ideas.edu.pl\\\/\",\"logo\":{\"@type\":\"ImageObject\",\"inLanguage\":\"en-US\",\"@id\":\"https:\\\/\\\/www.ideas.edu.pl\\\/#\\\/schema\\\/logo\\\/image\\\/\",\"url\":\"https:\\\/\\\/www.ideas.edu.pl\\\/wp-content\\\/uploads\\\/e90241d6e73025d0d829abc28d67cb84.svg\",\"contentUrl\":\"https:\\\/\\\/www.ideas.edu.pl\\\/wp-content\\\/uploads\\\/e90241d6e73025d0d829abc28d67cb84.svg\",\"width\":152,\"height\":43,\"caption\":\"IDEAS Instytut Badawczy\"},\"image\":{\"@id\":\"https:\\\/\\\/www.ideas.edu.pl\\\/#\\\/schema\\\/logo\\\/image\\\/\"}}]}<\/script>\n<!-- \/ Yoast SEO plugin. -->","yoast_head_json":{"title":"MapsHD: A benchmark suite for LiDAR odometry frameworks &#8226; IDEAS Instytut Badawczy","robots":{"index":"index","follow":"follow","max-snippet":"max-snippet:-1","max-image-preview":"max-image-preview:large","max-video-preview":"max-video-preview:-1"},"canonical":"https:\/\/www.ideas.edu.pl\/en\/publikacje\/mapshd-a-benchmark-suite-for-lidar-odometry-frameworks\/","og_locale":"en_US","og_type":"article","og_title":"MapsHD: A benchmark suite for LiDAR odometry frameworks &#8226; IDEAS Instytut Badawczy","og_description":"This paper describes a software toolbox for LiDAR (Light Detection and Ranging) and LiDAR-Inertial Odometry qualitative and quantitative evaluation. 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