ResearchBenchmarksOdometry on EKF-RIO-TC (Sequence 2)Odometry on EKF-RIO-TC (Sequence 2)Follow0.219APE Mean Trans. (m)LC-RIO-ET0.192960.368730.54450.72027Mar 20, 2026Evaluation resultsMethodMethodLinksAPE Mean Trans. (m)APE Mean Rot. (◦)RPE Mean Trans. (m)RPE Mean Rot. (◦)LC-RIO-ET2026.030.2191.9920.142.284LC-RIO-T2026.030.2781.9670.1432.324EKF-RIO-TC2026.030.3722.3230.1532.582LC-RIO-E2026.030.3762.0780.1711.997LC-RIO2026.030.3791.9960.1731.89RIO-T2026.030.4122.0460.1752.238EKF-RIO2026.030.876.150.3062.684