ResearchBenchmarksOdometry on EKF-RIO-TC (Sequence 1)Odometry on EKF-RIO-TC (Sequence 1)Follow0.324APE Mean Translation (m)LC-RIO-ET0.313520.384260.4550.52574Mar 20, 2026Evaluation resultsMethodMethodLinksAPE Mean Translation (m)APE Mean Rotation (deg)RPE Mean Translation (m)RPE Mean Rotation (deg)LC-RIO-ET2026.030.3241.570.1612.131EKF-RIO-TC2026.030.3331.9070.1752.412LC-RIO-T2026.030.381.6140.1712.181LC-RIO2026.030.4111.9150.1962.992RIO-T2026.030.4352.1020.1832.618EKF-RIO2026.030.5832.9970.3542.707LC-RIO-E2026.030.5861.7940.2243.081