ResearchBenchmarksVisual-Inertial Initialization on TUM-VI (room2)Follow2.75Gravity Error (deg)Dep.(AB)2.66043.26523.874.4748May 17, 2026Evaluation ResultsMethodMethodLinksGravity Error (deg)Velocity Error (m/s)Dep.(AB)2026.052.750.72Ours (FF)RANSAC=trueRANSAC=true2026.053.220.48Ours (FF)RANSAC=falseRANSAC=false2026.053.230.49Dong-Si2026.054.990.84