ResearchBenchmarksOdometry on ICINS (carried 2)Odometry on ICINS (carried 2)Follow1.513APE Mean Translation (m)LC-RIO1.489881.645941.8021.95806Mar 20, 2026Evaluation resultsMethodMethodLinksAPE Mean Translation (m)APE Mean Rotation (°)RPE Mean Translation (m)RPE Mean Rotation (°)LC-RIO2026.031.5139.0940.1260.845LC-RIO-ET2026.031.5189.0710.1280.871RIO-T2026.031.5199.2580.1260.841LC-RIO-T2026.031.5269.0950.1280.863EKF-RIO-TC2026.031.5949.6130.1520.992EKF-RIO2026.031.76110.7430.151.083LC-RIO-E2026.032.09112.3850.1820.886