ResearchBenchmarksMonocular Visual-Inertial Odometry on TUM-VI Slide3 sequenceFollow0.6RMSE ATE (m)DM-VIO0.52081.05541.592.1246Nov 26, 2025Evaluation ResultsMethodMethodLinksRMSE ATE (m)DM-VIOEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned, Compute Platform=CPU-based2025.110.6VINSEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned, Compute Platform=CPU-based2025.110.69OursEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned2025.110.76OKVISEvaluation Protocol=SE...Evaluation Protocol=SE(3)-aligned, Compute Platform=CPU-based2025.112.58