ResearchBenchmarksMonocular Visual-Inertial Odometry on TUM-VI (Room3 sequence)Follow0.07RMSE ATE (m)OKVIS0.06840.07920.090.1008Nov 26, 2025Evaluation ResultsMethodMethodLinksRMSE ATE (m)OKVISEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned, Compute Platform=CPU-based2025.110.07DM-VIOEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned, Compute Platform=CPU-based2025.110.09OursEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned2025.110.09VINSEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned, Compute Platform=CPU-based2025.110.11