ResearchBenchmarksMonocular Visual-Inertial Odometry on TUM-VI (Slide1 sequence)Follow0.31ATE RMSE (m)DM-VIO0.2880.43650.5850.7335Nov 26, 2025Evaluation ResultsMethodMethodLinksATE RMSE (m)DM-VIOEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned, Compute Platform=CPU-based2025.110.31OursEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned2025.110.55VINSEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned, Compute Platform=CPU-based2025.110.68OKVISEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned, Compute Platform=CPU-based2025.110.86