ResearchBenchmarksThermal Inertial Odometry on OdomBeyondVision H_hallway_circle_bright_2Thermal Inertial Odometry on OdomBeyondVision H_hallway_circle_bright_2Follow5.99ATE (m)TIDY5.6947.6929.6911.688Jun 18, 2026Evaluation resultsMethodMethodLinksATE (m)TIDYFramework=VINS-MonoFramework=VINS-Mono2026.065.99PPFNFramework=VINS-MonoFramework=VINS-Mono2026.069.19DeepTIO2026.0613.39