ResearchBenchmarksMonocular Visual-Inertial Odometry on TUM-VI (Mag2 sequence)Monocular Visual-Inertial Odometry on TUM-VI (Mag2 sequence)Follow2.21RMSE ATE (m)Ours2.1742.4172.662.903Nov 26, 2025Evaluation resultsMethodMethodLinksRMSE ATE (m)OursEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned2025.112.21DM-VIOEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned, Compute Platform=CPU-based2025.112.24OKVISEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned, Compute Platform=CPU-based2025.112.73VINSEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned, Compute Platform=CPU-based2025.113.11