ResearchBenchmarksVisual-Inertial Initialization on TUM-VI (room6)Follow1.78Gravity Error (deg)Dep.(AB)1.66682.43093.1953.9591May 17, 2026Evaluation ResultsMethodMethodLinksGravity Error (deg)Velocity Error (m/s)Dep.(AB)2026.051.780.38Ours (FF)RANSAC=falseRANSAC=false2026.051.950.41Ours (FF)RANSAC=trueRANSAC=true2026.051.950.41Dong-Si2026.054.610.38