ResearchBenchmarksLinear System Evaluation (VINS Initialization) on EuRoC V1_03Follow5.33Gravity ErrorDep.(AB)5.24165.83836.4357.0317May 17, 2026Evaluation ResultsMethodMethodLinksGravity ErrorVelocity Error (m/s)Dep.(AB)2026.055.330.85sqrtVINS2026.055.420.5OursRANSAC=trueRANSAC=true2026.056.110.7OursRANSAC=falseRANSAC=false2026.056.370.74DRT2026.056.680.52Dong-Si2026.057.540.79