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ResearchFormerly WizWand

VIO Initialization on EuRoC (All sequences)

0.05Velocity Error (m/s)Ours
0.040.10750.1750.2425Nov 24, 2025
Updated 7mo ago

Evaluation results

MethodLinks
OursSequence=V102, Attempt Interval=every 0.5 s2025.110.051.090.0780.091
VINS-MonoSequence=V101, Attempt Interval=every 0.5 s2025.110.06—0.319—
DRT-tightSequence=V102, Attempt Interval=every 0.5 s2025.110.060.79——
OursSequence=V201, Attempt Interval=every 0.5 s2025.110.061.060.0820.049
DRT-tightSequence=V202, Attempt Interval=every 0.5 s2025.110.060.84——
AS-MLESequence=V101, Attempt Interval=every 0.5 s2025.110.073.370.3160.082
DRT-tightSequence=V101, Attempt Interval=every 0.5 s2025.110.070.99——
OursSequence=V101, Attempt Interval=every 0.5 s2025.110.070.890.1280.045
VINS-MonoSequence=V201, Attempt Interval=every 0.5 s2025.110.071.430.0830.049
OursSequence=V202, Attempt Interval=every 0.5 s2025.110.070.940.0520.058
VINS-MonoSequence=MH01, Attempt Interval=every 0.5 s2025.110.081.170.0920.07
VINS-MonoSequence=MH02, Attempt Interval=every 0.5 s2025.110.081.110.0930.08
AS-MLESequence=V201, Attempt Interval=every 0.5 s2025.110.081.790.0850.067
DRT-tightSequence=V201, Attempt Interval=every 0.5 s2025.110.081.15——
VINS-MonoSequence=V202, Attempt Interval=every 0.5 s2025.110.081.260.0560.067
OursSequence=V203, Attempt Interval=every 0.5 s2025.110.080.920.0620.122
AS-MLESequence=MH02, Attempt Interval=every 0.5 s2025.110.091.360.0920.09
OursSequence=MH02, Attempt Interval=every 0.5 s2025.110.090.650.0910.033
OursSequence=MH03, Attempt Interval=every 0.5 s2025.110.090.960.080.029
DRT-tightSequence=V203, Attempt Interval=every 0.5 s2025.110.091.17——
OursSequence=Mean, Attempt Interval=every 0.5 s2025.110.090.90.0840.081
OursSequence=MH01, Attempt Interval=every 0.5 s2025.110.10.870.0880.03
AS-MLESequence=MH01, Attempt Interval=every 0.5 s2025.110.111.640.0930.091
DRT-tightSequence=MH01, Attempt Interval=every 0.5 s2025.110.111——
DRT-tightSequence=MH02, Attempt Interval=every 0.5 s2025.110.110.97——
OursSequence=MH04, Attempt Interval=every 0.5 s2025.110.110.840.0860.045
VINS-MonoSequence=V102, Attempt Interval=every 0.5 s2025.110.112.60.0810.077
DRT-tightSequence=V103, Attempt Interval=every 0.5 s2025.110.111.48——
VINS-MonoSequence=Mean, Attempt Interval=every 0.5 s2025.110.111.470.1040.101
DRT-tightSequence=Mean, Attempt Interval=every 0.5 s2025.110.111.03——
OursSequence=V103, Attempt Interval=every 0.5 s2025.110.120.870.0940.352
OursSequence=MH05, Attempt Interval=every 0.5 s2025.110.130.830.0810.039
AS-MLESequence=V202, Attempt Interval=every 0.5 s2025.110.132.680.0550.068
DRT-tightSequence=MH03, Attempt Interval=every 0.5 s2025.110.140.96——
VINS-MonoSequence=MH04, Attempt Interval=every 0.5 s2025.110.141.230.0880.06
VINS-MonoSequence=MH05, Attempt Interval=every 0.5 s2025.110.171.420.0810.062
AS-MLESequence=Mean, Attempt Interval=every 0.5 s2025.110.172.660.1040.109
VINS-MonoSequence=MH03, Attempt Interval=every 0.5 s2025.110.191.570.0810.051
DRT-tightSequence=MH04, Attempt Interval=every 0.5 s2025.110.190.99——
DRT-tightSequence=MH05, Attempt Interval=every 0.5 s2025.110.220.99——
AS-MLESequence=V102, Attempt Interval=every 0.5 s2025.110.245.570.0820.091
AS-MLESequence=MH04, Attempt Interval=every 0.5 s2025.110.251.870.0870.068
AS-MLESequence=MH05, Attempt Interval=every 0.5 s2025.110.252.610.0840.075
AS-MLESequence=MH03, Attempt Interval=every 0.5 s2025.110.33.060.080.063
AS-MLESequence=V103, Attempt Interval=every 0.5 s2025.11——0.1150.352
AS-MLESequence=V203, Attempt Interval=every 0.5 s2025.11——0.0530.151
VINS-MonoSequence=V103, Attempt Interval=every 0.5 s2025.11——0.1160.349
VINS-MonoSequence=V203, Attempt Interval=every 0.5 s2025.11——0.0530.141