ResearchBenchmarksVisual-Inertial Initialization on TUM-VI (room1)Follow3.35Gravity Error (deg)Ours (FF)3.14844.50925.877.2308May 17, 2026Evaluation ResultsMethodMethodLinksGravity Error (deg)Velocity Error (m/s)Ours (FF)RANSAC=falseRANSAC=false2026.053.350.32Ours (FF)RANSAC=trueRANSAC=true2026.053.570.33Dep.(AB)2026.056.720.67Dong-Si2026.058.390.87