Will queen size mattress fit into a minivan?

I have carried a queen size mattress in my 2001 Honda Odyssey. It was quite an exercise fitting it inside.

Stow the third-row bench seat. Fold/Remove the second row bucket seat and push it diagonally. The mattress needs to be flexible so that you can slightly curve it and shove it in. Be sure you have someone assisting if the edges get stuck at the hooks or seat belt anchor.