ResearchBenchmarksOdometry Estimation on Spot Dataset QUAD sequenceOdometry Estimation on Spot Dataset QUAD sequenceFollow7.35APE (trans) [m]GaRLILEO5.517.987530.47542.9625Jun 19, 2026Evaluation resultsMethodMethodLinksAPE (trans) [m]RPE (trans) [m]APE (rot) [deg]RPE (rot) [deg/m]Support (%)GaRLILEO2026.067.350.083.360.84—Ours-60sSupervision Window=60sSupervision Window=60s2026.0611.480.119.390.5511.9Leg-InEKF2026.0627.620.1122.740.9—Ours-30sSupervision Window=30sSupervision Window=30s2026.0630.730.4810.730.66Ours-10sSupervision Window=10sSupervision Window=10s2026.0653.60.5510.040.52