Beginner route
Read lessons 01 to 05 in order. Stop when you can identify input files, pose output, EPA artifacts, and why TBD is not a hidden score.
Clickable tutorial
Learn VIO from first principles to benchmark use
A real tutorial path for readers who are new to VIO, with expert notes for assumptions, estimator behavior, evaluation policy, and reproducible result promotion.
Tutorial system
Five pages, one benchmark path
Each lesson has beginner explanations, expert checks, and a concrete practice task. The path ends where the EPA and Docker reproduction pages begin.
01Beginner
What VIO estimates
Learn what visual-inertial odometry produces and what it does not claim to solve.
02Beginner + PractitionerSensors, timestamps, and calibration
Understand the input package before running any method.
03PractitionerRun one sequence reproducibly
Move from one dataset sequence to a standard benchmark output folder.
04Practitioner + ExpertEvaluate with EPICA / EPA
Use EPA as the source of truth for alignment, association, plots, summaries, and paper tables.
05All readersRead benchmark results
Interpret TBD-heavy public tables without inventing numbers.
How to read
Beginner first, expert always visible
The beginner track explains the operational idea. The expert track states assumptions that matter for fair comparison.
Practitioner route
Focus on lessons 02 to 04, then reproduce one system-dataset run using the Docker and EPA pages.
Expert route
Review estimator assumptions, timestamp association, alignment policy, denominator reporting, and artifact completeness before interpreting any table.