ResearchBenchmarksLinear System Evaluation (VINS Initialization) on EuRoC V2_03Follow1.56Gravity ErrorsqrtVINS1.3382.83654.3355.8335May 17, 2026Evaluation ResultsMethodMethodLinksGravity ErrorVelocity ErrorsqrtVINS2026.051.560.21DRT2026.053.090.51OursRANSAC=falseRANSAC=false2026.053.470.54OursRANSAC=trueRANSAC=true2026.053.710.65Dep.(AB)2026.054.730.75Dong-Si2026.057.110.63