ResearchBenchmarksMonocular Visual-Inertial Odometry on TUM-VI (Mag3 sequence)Follow0.4RMSE ATE (m)VINS0.34840.69671.0451.3933Nov 26, 2025Evaluation ResultsMethodMethodLinksRMSE ATE (m)VINSEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned, Compute Platform=CPU-based2025.110.4OursEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned2025.110.56OKVISEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned, Compute Platform=CPU-based2025.111.22DM-VIOEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned, Compute Platform=CPU-based2025.111.69