Visual-Inertial Initialization on EuRoC MAV
1.2Windowed ATE (deg)Dep.(Const.)
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| Dep.(Const.)Number of keyframes=5, Temporal window size=0.5 s2026.05 | 1.2 | 0.026 | 4.01 | 0.079 | 3.3 | 76.6 | |
| sqrtVINSNumber of keyframes=5, Temporal window size=0.5 s2026.05 | 1.2 | 0.022 | 3.48 | 0.082 | 1.09 | 73.4 | |
| Ours (SC)Number of keyframes=5, Temporal window size=0.5 s2026.05 | 1.2 | 0.02 | 3.82 | 0.109 | 1.26 | 68.8 | |
| Dep.(AB)Number of keyframes=5, Temporal window size=0.5 s2026.05 | 1.25 | 0.02 | 4.07 | 0.087 | 2.87 | 67.2 | |
| Dong-SiNumber of keyframes=5, Temporal window size=0.5 s2026.05 | 1.47 | 0.024 | 4.3 | 0.078 | 2.48 | 67.2 | |
| DRTNumber of keyframes=5, Temporal window size=0.5 s2026.05 | 1.52 | 0.031 | 4.44 | 0.095 | 1.07 | 75 | |
| Ours (FF)Number of keyframes=5, Temporal window size=0.5 s2026.05 | 3.53 | 0.034 | 3.14 | 0.073 | 1.19 | 81.2 |