ResearchBenchmarksVisual-Inertial Initialization on TUM-VI (room5)Follow3.77Gravity Error (deg)Ours (FF)3.41685.80098.18510.5691May 17, 2026Evaluation ResultsMethodMethodLinksGravity Error (deg)Velocity Error (m/s)Ours (FF)RANSAC=trueRANSAC=true2026.053.770.28Ours (FF)RANSAC=falseRANSAC=false2026.053.840.26Dep.(AB)2026.054.330.37Dong-Si2026.0512.61.05