ResearchBenchmarksLinear System Evaluation (VINS Initialization) on EuRoC V1_02Follow3.12Gravity ErrorOurs2.83324.76916.7058.6409May 17, 2026Evaluation ResultsMethodMethodLinksGravity ErrorVelocity ErrorOursRANSAC=falseRANSAC=false2026.053.120.82OursRANSAC=trueRANSAC=true2026.053.170.81sqrtVINS2026.053.880.63DRT2026.054.10.6Dep.(AB)2026.054.60.85Dong-Si2026.0510.290.75