ResearchBenchmarksOdometry on EKF-RIO-TC (Sequence 4)Odometry on EKF-RIO-TC (Sequence 4)Follow0.247Absolute Pose Error Mean Translation (m)LC-RIO0.22380.38040.5370.6936Mar 20, 2026Evaluation resultsMethodMethodLinksAbsolute Pose Error Mean Translation (m)Absolute Pose Error Mean Rotation (deg)Relative Pose Error Mean Translation (m)Relative Pose Error Mean Rotation (deg)LC-RIO2026.030.2473.3620.1763.156EKF-RIO-TC2026.030.2642.730.1672.991RIO-T2026.030.2683.7640.2213.214LC-RIO-ET2026.030.3043.0740.1163.114LC-RIO-T2026.030.323.2530.1833.002LC-RIO-E2026.030.3293.2810.1383.279EKF-RIO2026.030.82716.5230.3164.844