MapsHD: A benchmark suite for LiDAR odometry frameworks

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 system, d) Absolute Pose Error (APE) and Relative Pose Error (RPE) metrics, e) import/export tools for easier 3D data handling and visualizing, e.g., in Cloud Compare software. This software is compatible with ROS1 (Robot Operating System) and ROS2 data formats. We show an example benchmark of 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, odometry _ ros _ wrapper, Point-LIO, and LOAM-Livox algorithms. For all experiments we provide movies. The contribution of the paper is software-oriented LO/LIO algorithm benchmark suite. The novelty lies in the integration of multiple benchmarking steps into a unified framework, thus overall effort needed for qualitative and quantitative evaluation is reduced.

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Publication Details

Journal
SoftwareX
Published
2026-06-18
DOI
https://doi.org/10.1016/j.softx.2026.102822
Primary Topic
Robotics and Sensor-Based Localization
Type
article
Field-Weighted Citation Impact
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article

MapsHD: A benchmark suite for LiDAR odometry frameworks

J. Kolecki, Karolina Pargieła, Pelagia Gawronek, Przemysław Lekston et al.
SoftwareX
Robotics and Sensor-Based Localization
article

MapsHD: A benchmark suite for LiDAR odometry frameworks

J. Kolecki, Karolina Pargieła, Pelagia Gawronek, Przemysław Lekston, Jakub Chudziński, Karolina Tomaszkiewicz, Jacek Szklarski, Jozef Výbošťok, Anna Malczewska, Miłosz Mielcarek, Machi Zawidzki, Sławomir Łapiński, Grzegorz Krok, Rami Faraj, Karol Majek, Juliána Chudá, Przemysław Kuraś, Bartosz Mitka, Michal Pełka, Charles Hamesse, Janusz Będkowski, Jurica Jagetić, Loris Redovniković, Michał Ciszewski, Tomasz Owerko, Samer Karam, A. Adamek, Joanna Koszyk, Michal Skladan, Bartosz Hyla, Antun Jakopec, Oskar Bartosz, Michał Własiuk, Kornel Mrozowski, Ethan Decleyn, Craciun Daniel-Marian, Adrian Radulescu, Mariana Campos, Marcin Matecki, Kim André Anstensen, Jarosław Wajs, Jakub Markiewicz, Krzysztof Sternczuk, Michal Laszkowski, Martin Mokros, Łukasz Ambroziński, Adam Kostrzewa, Răzvan Dumbravă, Klapa Przemysław, Tomasz Lipecki, Maksymilian Kulicki, Carlos Cabo
article en

Abstract

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 system, d) Absolute Pose Error (APE) and Relative Pose Error (RPE) metrics, e) import/export tools for easier 3D data handling and visualizing, e.g., in Cloud Compare software. This software is compatible with ROS1 (Robot Operating System) and ROS2 data formats. We show an example benchmark of 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, odometry _ ros _ wrapper, Point-LIO, and LOAM-Livox algorithms. For all experiments we provide movies. The contribution of the paper is software-oriented LO/LIO algorithm benchmark suite. The novelty lies in the integration of multiple benchmarking steps into a unified framework, thus overall effort needed for qualitative and quantitative evaluation is reduced.

SoftwareXVol. 35
Warsaw University of Technology (PL), Wrocław University of Science and Technology (PL), Jagiellonian University (PL), Royal Military Academy (BE), University of Oradea (RO), Universidad de Oviedo (ES), University of Zagreb (HR), Sierra Club (US), University of Agriculture in Krakow (PL), Technische Universität Darmstadt (DE), Finnish Geospatial Research Institute (FI), Waldi (Poland) (PL), Forest Research Institute (HU), Technická univerzita vo Zvolene (SK), Head Office of Geodesy and Cartography (PL), Institute of Fundamental Technological Research (PL), Lukasiewicz Research Network - Krakow Institute of Technology (PL), Societatea Română de Anestezie şi Terapie Intensivă (RO), Opća Bolnica Varaždin (HR), IDEA of Development Foundation (PL), University College London (GB), Poznań University of Technology (PL), Norwegian University of Life Sciences (NO), AGH University of Krakow (PL), Evotec (United States) (US), Polish Academy of Sciences (PL)
Partnerships for the goals
Openalex Percentile: Top 3%
Robotics and Sensor-Based Localization
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