ResearchBenchmarksLinear System Evaluation (VINS Initialization) on EuRoC AverageLinear System Evaluation (VINS Initialization) on EuRoC AverageFollow3.54Gravity ErrorOurs3.43284.15644.885.6036May 17, 2026Evaluation resultsMethodMethodLinksGravity ErrorVelocity Error (m/s)OursRANSAC=trueRANSAC=true2026.053.540.56OursRANSAC=falseRANSAC=false2026.053.580.58DRT2026.053.650.41Dep.(AB)2026.053.840.66sqrtVINS2026.054.070.4Dong-Si2026.056.220.59