Monocular Visual-Inertial Odometry on TUM-VI
0.0769Avg RMSE ATE (m)MAVIS
Evaluation Results
| Method | Links | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| MAVISBackend=Graph-based, Camera=Stereo2026.06 | 0.0769 | — | — | — | — | 0.1723 | 0.1487 | 0.2999 | 0.0694 | 0.0809 | 0.012 | 0.0088 | 0.0257 | 0.0121 | 0.0084 | 0.0072 | |
| ORB-SLAM3Backend=Graph-based, Camera=Stereo2026.06 | 0.0801 | — | — | — | — | 0.1524 | 0.0928 | 0.3775 | 0.0855 | 0.0751 | 0.0157 | 0.0175 | 0.0314 | 0.0134 | 0.0107 | 0.0096 | |
| Sphere-VIOBackend=Filter-based, Camera=Stereo2026.06 | 0.1518 | — | — | — | — | 0.2472 | 0.1348 | 0.3728 | 0.192 | 0.2126 | 0.043 | 0.1898 | 0.1176 | 0.0308 | 0.0661 | 0.0634 | |
| DM-VIOEvaluation Protocol=SE(3)-aligned, Compute Platform=CPU-based2025.11 | 0.19 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OursEvaluation Protocol=SE(3)-aligned2025.11 | 0.23 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SchurVINSBackend=Filter-based, Camera=Stereo2026.06 | 0.2965 | — | — | — | — | 0.9337 | 0.8966 | 0.6683 | 0.1184 | 0.3198 | 0.0503 | 0.0934 | 0.0492 | 0.0442 | 0.0649 | 0.0229 | |
| OKVISEvaluation Protocol=SE(3)-aligned, Compute Platform=CPU-based2025.11 | 0.33 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OursEvaluation Protocol=SE(3)-aligned2025.11 | 0.39 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| VINS-FusionBackend=Graph-based, Camera=Stereo2026.06 | 0.4171 | — | — | — | — | 0.8627 | 1.0681 | 1.4378 | 0.2482 | 0.4347 | 0.0815 | 0.0576 | 0.113 | 0.0526 | 0.1855 | 0.0463 | |
| OKVISEvaluation Protocol=SE(3)-aligned, Compute Platform=CPU-based2025.11 | 0.47 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DM-VIOEvaluation Protocol=SE(3)-aligned, Compute Platform=CPU-based2025.11 | 0.47 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| VINSEvaluation Protocol=SE(3)-aligned, Compute Platform=CPU-based2025.11 | 0.63 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DM-VIOPlatform=CPU-based2025.11 | 0.77 | 0.3 | 2.09 | 0.083 | 0.59 | — | — | — | — | — | — | — | — | — | — | — | |
| DM-VIOEvaluation Protocol=SE(3)-aligned, Compute Platform=CPU-based2025.11 | 0.77 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OursPlatform=GPU-based2025.11 | 0.8 | 0.38 | 1.96 | 0.1 | 0.74 | — | — | — | — | — | — | — | — | — | — | — | |
| OursEvaluation Protocol=SE(3)-aligned2025.11 | 0.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| VINSPlatform=CPU-based2025.11 | 0.94 | 1.05 | 1.9 | 0.083 | 0.74 | — | — | — | — | — | — | — | — | — | — | — | |
| VINSEvaluation Protocol=SE(3)-aligned, Compute Platform=CPU-based2025.11 | 0.94 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| VINSEvaluation Protocol=SE(3)-aligned, Compute Platform=CPU-based2025.11 | 0.95 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OKVISPlatform=CPU-based2025.11 | 1.22 | 0.46 | 2.48 | 0.24 | 1.86 | — | — | — | — | — | — | — | — | — | — | — | |
| OKVISEvaluation Protocol=SE(3)-aligned, Compute Platform=CPU-based2025.11 | 1.22 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — |