ResearchBenchmarksLinear System Evaluation (VINS Initialization) on EuRoC V2_02Linear System Evaluation (VINS Initialization) on EuRoC V2_02Follow3.83Gravity Error (deg)DRT3.68684.65345.626.5866May 17, 2026Evaluation resultsMethodMethodLinksGravity Error (deg)Velocity Error (m/s)DRT2026.053.830.31OursRANSAC=trueRANSAC=true2026.053.990.47Dep.(AB)2026.054.150.6OursRANSAC=falseRANSAC=false2026.054.420.63sqrtVINS2026.056.60.51Dong-Si2026.057.410.58