Reading about odometry models. All of the methods described either involve some amount of manual effort, or setting up special markers by which the robot can judge its actual pose and compare that against the odometry derived pose.
The thought occurs that it may be possible to have the robot learn its own odometry model in a fully automated way. By looking for systematic deviations between the visual localization and the odometry based localization probably an odometry model can be learned over time. This may also be relatively easy to do.