ResearchBenchmarksVisual-Inertial Initialization on TUM-VI (room4)Follow2.45Gravity Error (deg)Ours (FF)2.31723.21364.115.0064May 17, 2026Evaluation ResultsMethodMethodLinksGravity Error (deg)Velocity Error (m/s)Ours (FF)RANSAC=trueRANSAC=true2026.052.450.31Ours (FF)RANSAC=falseRANSAC=false2026.052.60.33Dep.(AB)2026.055.070.55Dong-Si2026.055.770.53