ResearchBenchmarksMonocular Visual-Inertial Odometry on TUM-VI Corr3 sequenceMonocular Visual-Inertial Odometry on TUM-VI Corr3 sequenceFollow0.24ATE RMSE (m)DM-VIO0.18720.54360.91.2564Nov 26, 2025Evaluation resultsMethodMethodLinksATE RMSE (m)DM-VIOEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned, Compute Platform=CPU-based2025.110.24OursEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned2025.110.52OKVISEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned, Compute Platform=CPU-based2025.110.57VINSEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned, Compute Platform=CPU-based2025.111.56