ResearchBenchmarksVisual-Inertial Initialization on TUM-VI room3Follow2.86Gravity Error (deg)Ours (FF)2.8323.0213.213.399May 17, 2026Evaluation ResultsMethodMethodLinksGravity Error (deg)Velocity Error (m/s)Ours (FF)RANSAC=trueRANSAC=true2026.052.860.55Ours (FF)RANSAC=falseRANSAC=false2026.052.920.55Dep.(AB)2026.053.140.68Dong-Si2026.053.560.56