ResearchBenchmarksMonocular Visual-Inertial Odometry on TUM-VI (Room1 sequence)Follow0.03RMSE ATE (m)DM-VIO0.02680.04840.070.0916Nov 26, 2025Evaluation ResultsMethodMethodLinksRMSE ATE (m)DM-VIOEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned, Compute Platform=CPU-based2025.110.03OKVISEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned, Compute Platform=CPU-based2025.110.06VINSEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned, Compute Platform=CPU-based2025.110.07OursEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned2025.110.11