ResearchBenchmarksVisual-Inertial Initialization on TUM-VIFollow2.97Gravity ErrorOurs (FF)2.82283.81644.815.8036May 17, 2026Evaluation ResultsMethodMethodLinksGravity ErrorVelocity ErrorOurs (FF)RANSAC=trueRANSAC=true2026.052.970.39Ours (FF)RANSAC=falseRANSAC=false2026.052.990.39Dep.(AB)2026.053.960.56Dong-Si2026.056.650.71