ResearchBenchmarksOdometry on EKF-RIO-TC MeanOdometry on EKF-RIO-TC MeanFollow0.27APE Mean TranslationLC-RIO-ET0.245880.408690.57150.73431Mar 20, 2026Evaluation resultsMethodMethodLinksAPE Mean TranslationAPE Mean RotationRPE Mean TranslationRPE Mean RotationLC-RIO-ET2026.030.272.0630.1382.377EKF-RIO-TC2026.030.3512.370.1692.49LC-RIO-T2026.030.3612.2670.172.406LC-RIO-E2026.030.4772.7970.1832.691LC-RIO2026.030.4812.7710.2062.731RIO-T2026.030.492.9570.212.726EKF-RIO2026.030.8737.0820.3353.185