ResearchBenchmarksInertial Odometry on Our Dataset (test)Follow5.9FDEUMLoc5.2089.87914.5519.221Jan 10, 2026Evaluation ResultsMethodMethodLinksFDEATE (m)RTE (m)UMLocMap conditioning=trueMap conditioning=true2026.015.91.361.91UMLocMap conditioning=falseMap conditioning=false2026.0112.12.333.23RNINModel=RNIN-VIOModel=RNIN-VIO2026.0117.24.654.61RoNIN-TModel=RoNIN TCNModel=RoNIN TCN2026.0119.23.664.62RoNIN-LModel=RoNIN LSTMModel=RoNIN LSTM2026.0123.24.144.94