Per-frame processing time on HILTI 2022
0.0037Component Time e04SchurVINS
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| SchurVINSBackend=F (Filter-based), Camera Mode=S (Stereo)2026.06 | 0.0037 | 0.0044 | 0.0039 | 0.0032 | 0.0031 | 0.0034 | 0.0036 | |
| Sphere-VIOBackend=F (Filter-based), Camera Mode=M (Multi-camera)2026.06 | 0.0134 | 0.013 | 0.0126 | 0.0111 | 0.0115 | 0.0116 | 0.0122 | |
| VINS-FusionBackend=G (Graph-based), Camera Mode=S (Stereo)2026.06 | 0.0278 | 0.0254 | 0.0245 | 0.0232 | 0.0263 | 0.0272 | 0.0257 |