ResearchBenchmarksLinear System Evaluation (VINS Initialization) on EuRoC V2_01Follow1.85Gravity ErrorDep.(AB)1.74842.43423.123.8058May 17, 2026Evaluation ResultsMethodMethodLinksGravity ErrorVelocity Error (m/s)Dep.(AB)2026.051.850.48DRT2026.051.910.21OursRANSAC=trueRANSAC=true2026.052.010.35OursRANSAC=falseRANSAC=false2026.052.020.35Dong-Si2026.052.530.33sqrtVINS2026.054.390.29