ResearchBenchmarksOdometry Estimation on Spot Dataset TUNNEL sequenceOdometry Estimation on Spot Dataset TUNNEL sequenceFollow3.52APE Translational (m)GaRLILEO3.31844.67926.047.4008Jun 19, 2026Evaluation resultsMethodMethodLinksAPE Translational (m)RPE Translational (m)APE Rotational (deg)RPE Rotational (deg/m)Support (%)GaRLILEO2026.063.520.082.850.44—Ours-10sSupervision Window=10sSupervision Window=10s2026.064.420.17.090.43.6Ours-60sSupervision Window=60sSupervision Window=60s2026.064.980.126.840.4421.7Ours-30sSupervision Window=30sSupervision Window=30s2026.066.10.128.460.4310.8Leg-InEKF2026.068.560.19.760.82—