ResearchBenchmarksOdometry on TunnelOdometry on TunnelFollow3.523APE TranslationalGaRLILEO2.0546811.9658421.87731.78816Nov 17, 2025Evaluation resultsMethodMethodLinksAPE TranslationalAPE RotationalRPE TranslationalRPE RotationalAPE Z-AxisGaRLILEO2025.113.5232.8490.0830.440.548Co-RaLType=Radar based methodType=Radar based method2025.117.9398.3620.2620.6382.872EKF-RIOType=Radar based methodType=Radar based method2025.1126.833.4270.3160.5416.139RiverType=Radar based methodType=Radar based method2025.1129.51531.8440.1960.75218.991DeROType=Radar based methodType=Radar based method2025.1140.23131.5070.1960.68336.107