Tutorial system
Learn VIO without starting from expert jargon
The tutorial is split into beginner, run, evaluation, and advanced tracks. New readers start with concepts and files; experts can jump directly to estimator assumptions and fair comparison.
Tutorial system
Ten lessons, separated by reader level
Beginner pages avoid estimator details. Advanced concepts appear only after the reader understands inputs, outputs, runs, EPA, and result status.
How to read
Use the right depth
The route depends on whether you are learning VIO, running a benchmark case, reading results, or auditing methodology.
Beginner route
Read lessons 01 and 02 first. Stop when you can explain what VIO estimates and identify dataset, truth, and adapter folders.
Operator route
Read lessons 03 through 08, then use the Reproduce, EPA Workflow, Dataset, and Resource pages to run one case.
Expert route
Jump to lessons 09 and 10 for estimator assumptions, output scope, denominator rules, and public-row audit criteria.