ResearchBenchmarksMonocular Visual-Inertial Odometry on TUM-VI (Room2 sequence)Follow0.07RMSE ATE (m)VINS0.06760.08380.10.1162Nov 26, 2025Evaluation ResultsMethodMethodLinksRMSE ATE (m)VINSEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned, Compute Platform=CPU-based2025.110.07OursEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned2025.110.1OKVISEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned, Compute Platform=CPU-based2025.110.11DM-VIOEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned, Compute Platform=CPU-based2025.110.13