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I am using 4 mecanum wheeled robot and have recently tested its wheel odometry. It was accurate to about 5-10 cm.

How sensible is it to use the wheel odometry for 100 meters after which I have some external sensors that can correct the pose and orientation?

P.S. For orientation estimation I am using IMU, wheel odometry is only used for translational calculation

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5-10cm isn't too bad after 100m. Obviously this is kind of subjective because I don't know what hardware you are using. You could be using the cheapest encoders on the market for all I know. That being said, it's pretty good. I'd expect to see around 0.1% error in odometry without anything fancy like SLAM.

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