ResearchBenchmarksLinear System Evaluation (VINS Initialization) on EuRoC V1_01Follow2.05Gravity ErrorOurs2.02842.17422.322.4658May 17, 2026Evaluation ResultsMethodMethodLinksGravity ErrorVelocity Error (m/s)OursRANSAC=falseRANSAC=false2026.052.050.37OursRANSAC=trueRANSAC=true2026.052.270.4DRT2026.052.280.29Dep.(AB)2026.052.370.4Dong-Si2026.052.420.43sqrtVINS2026.052.590.24