ResearchBenchmarksMonocular Visual-Inertial Odometry on TUM-VI (Mag1 sequence)Monocular Visual-Inertial Odometry on TUM-VI (Mag1 sequence)Follow2.19ATE RMSE (m)VINS2.1382.4892.843.191Nov 26, 2025Evaluation resultsMethodMethodLinksATE RMSE (m)VINSEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned, Compute Platform=CPU-based2025.112.19DM-VIOEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned, Compute Platform=CPU-based2025.112.35OursEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned2025.113.12OKVISEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned, Compute Platform=CPU-based2025.113.49