ResearchBenchmarksVisual-Inertial Initialization on EuRoCVisual-Inertial Initialization on EuRoCFollow0.001Initialization Time (s)Ours-0.0990020.5757391.250481.925221Nov 24, 2025Evaluation resultsMethodMethodLinksInitialization Time (s)SfM Time (s)Bias/Gyro Est. Time (s)Vel. & Grav. Est. Time (s)Point Triangulation Time (s)Ours2025.110.001—00.00050.0004DRT-tight2025.110.0052—0.0020.00280.0004AS-MLE2025.110.03050.03030.00020.00010VINS-Mono2025.110.03090.03040.00040.00010OursAdaptive?=✓Adaptive?=✓2025.110.48————Campos et al.Adaptive?=✓Adaptive?=✓2025.112.16————He et al.Adaptive?=✗Adaptive?=✗2025.112.5————