ResearchBenchmarksMonocular Visual-Inertial Odometry on TUM-VI (Slide2 sequence)Follow0.84RMSE ATE (m)VINS0.78761.14131.4951.8487Nov 26, 2025Evaluation ResultsMethodMethodLinksRMSE ATE (m)VINSEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned, Compute Platform=CPU-based2025.110.84DM-VIOEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned, Compute Platform=CPU-based2025.110.87OursEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned2025.110.91OKVISEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned, Compute Platform=CPU-based2025.112.15