Visual-Inertial Odometry on EuRoC (All sequences)
0.01MH1 ErrorFoundationSLAM
Evaluation results
| Method | Links | ||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| FoundationSLAMBackbone=ViT-S, Encoding=half-resolution2025.12 | 0.01 | 0.011 | 0.02 | 0.041 | 0.04 | — | — | — | — | — | 0.019 | — | 0.034 | 0.009 | 0.015 | 0.014 | 0.01 | 0.011 | — | — | — | — | — | — | |
| MambaVO++Loop closure=true2024.12 | 0.012 | 0.017 | 0.02 | 0.043 | 0.035 | 0.035 | 0.008 | 0.016 | 0.016 | 0.015 | 0.021 | 0.018 | — | — | — | — | — | — | — | — | — | — | — | — | |
| DROID-SLAMLoop closure=true2024.12 | 0.013 | 0.014 | 0.022 | 0.043 | 0.043 | 0.037 | 0.012 | 0.02 | 0.017 | 0.013 | 0.022 | 0.014 | — | — | — | — | — | — | — | — | — | — | — | — | |
| DPV-SLAMLoop closure=true2024.12 | 0.013 | 0.016 | 0.022 | 0.043 | 0.041 | 0.035 | 0.008 | 0.015 | 0.02 | 0.011 | 0.024 | 0.04 | — | — | — | — | — | — | — | — | — | — | — | — | |
| DPV-SLAM2025.12 | 0.013 | 0.016 | 0.022 | 0.043 | 0.041 | — | — | — | — | — | 0.024 | — | 0.035 | 0.008 | 0.015 | 0.02 | 0.011 | 0.04 | — | — | — | — | — | — | |
| DPV-SLAM++2025.12 | 0.013 | 0.016 | 0.021 | 0.041 | 0.041 | — | — | — | — | — | 0.023 | — | 0.035 | 0.01 | 0.015 | 0.021 | 0.011 | 0.023 | — | — | — | — | — | — | |
| DROID-SLAM2025.12 | 0.013 | 0.014 | 0.022 | 0.043 | 0.043 | — | — | — | — | — | 0.022 | — | 0.037 | 0.012 | 0.02 | 0.017 | 0.013 | 0.014 | — | — | — | — | — | — | |
| DROID-SLAMCalibration=Calibrated2026.03 | 0.013 | 0.012 | 0.022 | 0.048 | 0.044 | — | — | — | — | — | 0.022 | — | 0.037 | 0.013 | 0.019 | 0.017 | 0.01 | 0.013 | — | — | — | — | — | — | |
| DPV-SLAMCalibration=Calibrated2026.03 | 0.013 | 0.016 | 0.022 | 0.043 | 0.041 | — | — | — | — | — | 0.024 | — | 0.035 | 0.008 | 0.015 | 0.02 | 0.011 | 0.04 | — | — | — | — | — | — | |
| ORBSLAM3Loop closure=true2024.12 | 0.016 | 0.027 | 0.028 | 0.138 | 0.072 | 0.033 | 0.015 | 0.033 | 0.023 | 0.029 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GO-SLAMLoop closure=true2024.12 | 0.016 | 0.014 | 0.023 | 0.045 | 0.045 | 0.037 | 0.011 | 0.023 | 0.016 | 0.01 | 0.024 | 0.022 | — | — | — | — | — | — | — | — | — | — | — | — | |
| GO-SLAM2025.12 | 0.016 | 0.014 | 0.023 | 0.045 | 0.045 | — | — | — | — | — | 0.024 | — | 0.037 | 0.011 | 0.023 | 0.016 | 0.01 | 0.022 | — | — | — | — | — | — | |
| GeoFlow-SLAMSensor Modality=Monocular RGB-IMU2026.06 | 0.019 | 0.035 | 0.052 | 0.071 | 0.07 | — | — | — | — | — | 0.044 | — | 0.034 | 0.027 | 0.096 | 0.031 | 0.018 | 0.029 | — | — | — | — | — | — | |
| MASt3R-SLAM2025.12 | 0.023 | 0.017 | 0.057 | 0.113 | 0.067 | — | — | — | — | — | 0.041 | — | 0.04 | 0.019 | 0.027 | 0.02 | 0.025 | 0.043 | — | — | — | — | — | — | |
| MASt3R-SLAMCalibration=Calibrated2026.03 | 0.023 | 0.017 | 0.057 | 0.113 | 0.067 | — | — | — | — | — | 0.041 | — | 0.04 | 0.019 | 0.027 | 0.02 | 0.025 | 0.043 | — | — | — | — | — | — | |
| GeoFlow-SLAM++Sensor Modality=Monocular RGB-IMU, Feature Tracking=NN-Feature2026.06 | 0.025 | 0.027 | 0.038 | 0.069 | 0.1 | — | — | — | — | — | 0.05 | — | 0.031 | 0.028 | 0.069 | 0.046 | 0.025 | 0.093 | — | — | — | — | — | — | |
| LDSOLoop closure=true2024.12 | 0.046 | 0.035 | 0.175 | 1.954 | 0.385 | 0.093 | 0.085 | — | 0.043 | 0.405 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SVsensor_mode=stereo, algorithm_type=filter-based, method_full_name=SchurVINS2023.12 | 0.049 | 0.077 | 0.086 | 0.125 | 0.125 | 0.035 | 0.053 | 0.082 | 0.046 | 0.075 | 0.075 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Adaptive VIOSensor=M+I, Alignment=SE(3)-aligned2024.05 | 0.05 | 0.055 | 0.069 | 0.092 | 0.124 | 0.035 | 0.045 | 0.073 | 0.052 | 0.086 | 0.07 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AIM-SLAMCalibration=Uncalibrated2026.03 | 0.055 | 0.076 | 0.058 | 0.115 | 0.114 | — | — | — | — | — | 0.072 | — | 0.081 | 0.059 | 0.069 | 0.057 | 0.053 | 0.06 | — | — | — | — | — | — | |
| VI-DSOSensor=M+I, Alignment=SE(3)-aligned2024.05 | 0.062 | 0.044 | 0.117 | 0.132 | 0.121 | 0.059 | 0.067 | 0.096 | 0.04 | 0.062 | 0.08 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ORB-SLAM3Sensor Modality=Monocular RGB-IMU2026.06 | 0.062 | 0.037 | 0.046 | 0.075 | 0.057 | — | — | — | — | — | 0.043 | — | 0.049 | 0.015 | 0.037 | 0.042 | 0.021 | 0.027 | — | — | — | — | — | — | |
| MambaVOLoop closure=false2024.12 | 0.063 | 0.024 | 0.107 | 0.148 | 0.118 | 0.044 | 0.138 | 0.1 | 0.035 | 0.047 | 0.094 | 0.208 | — | — | — | — | — | — | — | — | — | — | — | — | |
| DM-VIOSensor=M+I, Alignment=SE(3)-aligned2024.05 | 0.065 | 0.044 | 0.097 | 0.102 | 0.096 | 0.048 | 0.045 | 0.069 | 0.029 | 0.05 | 0.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DM-VIOsensor_mode=monocular, algorithm_type=optimization-based2023.12 | 0.065 | 0.044 | 0.097 | 0.102 | 0.096 | 0.048 | 0.045 | 0.069 | 0.029 | 0.05 | 0.064 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BASALTsensor_mode=stereo, algorithm_type=optimization-based2023.12 | 0.07 | 0.06 | 0.07 | 0.13 | 0.11 | 0.04 | 0.05 | 0.1 | 0.04 | 0.05 | 0.072 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ORB-SLAM32025.12 | 0.071 | 0.067 | 0.071 | 0.082 | 0.06 | — | — | — | — | — | — | — | 0.015 | 0.02 | — | 0.021 | 0.018 | — | — | — | — | — | — | — | |
| OpenVINSsensor_mode=stereo, algorithm_type=filter-based2023.12 | 0.072 | 0.143 | 0.086 | 0.173 | 0.247 | 0.055 | 0.06 | 0.059 | 0.054 | 0.047 | 0.096 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SVO2.0sensor_mode=stereo, algorithm_type=optimization-based2023.12 | 0.08 | 0.08 | 0.088 | 0.211 | 0.231 | 0.052 | 0.082 | 0.073 | 0.084 | 0.116 | 0.109 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| V2VLoop closure=false2024.12 | 0.081 | 0.067 | 0.171 | 0.179 | 0.115 | 0.046 | 0.16 | 0.097 | 0.056 | 0.059 | 0.117 | 0.252 | — | — | — | — | — | — | — | — | — | — | — | — | |
| PO-KF2026.02 | 0.083 | 0.149 | 0.203 | 0.173 | 0.329 | — | — | — | — | — | — | — | 0.074 | 0.084 | 0.067 | 0.066 | 0.074 | 0.149 | 0.085 | 0.187 | 0.132 | — | — | — | |
| OpenVINS-4sensor_mode=stereo, algorithm_type=filter-based, max_sliding_window_size=42023.12 | 0.084 | 0.084 | 0.127 | 0.218 | 0.36 | 0.038 | 0.054 | 0.05 | 0.064 | 0.061 | 0.114 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PO-KF w/SPSLAM feature=enabled2026.02 | 0.084 | 0.133 | 0.188 | 0.155 | 0.183 | — | — | — | — | — | — | — | 0.063 | 0.072 | 0.083 | 0.048 | 0.066 | 0.175 | 0.084 | 0.148 | 0.114 | — | — | — | |
| DPVOLoop closure=false2024.12 | 0.087 | 0.055 | 0.158 | 0.137 | 0.114 | 0.05 | 0.14 | 0.086 | 0.057 | 0.049 | 0.105 | 0.211 | — | — | — | — | — | — | — | — | — | — | — | — | |
| VINS-MonoSensor Modality=Monocular RGB-IMU, Loop Closure=true2026.06 | 0.087 | 0.108 | 0.066 | 0.205 | 0.142 | — | — | — | — | — | 0.127 | — | 0.048 | 0.063 | 0.201 | 0.067 | 0.159 | 0.248 | — | — | — | — | — | — | |
| SuperVINSSensor Modality=Monocular RGB-IMU2026.06 | 0.087 | 0.097 | 0.181 | 0.171 | 0.158 | — | — | — | — | — | 0.142 | — | 0.201 | 0.116 | 0.221 | 0.061 | 0.1 | 0.169 | — | — | — | — | — | — | |
| ICE-BAsensor_mode=stereo, algorithm_type=optimization-based2023.12 | 0.09 | 0.07 | 0.11 | 0.16 | 0.27 | 0.05 | 0.05 | 0.11 | 0.12 | 0.09 | 0.112 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| VINS-FusionSensor Modality=Monocular RGB-IMU, Loop Closure=true2026.06 | 0.091 | 0.046 | 0.092 | 0.131 | 0.262 | — | — | — | — | — | 0.148 | — | 0.154 | 0.219 | 0.17 | 0.123 | — | 0.193 | — | — | — | — | — | — | |
| SVOLoop closure=false2024.12 | 0.1 | 0.12 | 0.41 | 0.43 | 0.3 | 0.07 | 0.21 | — | 0.11 | 0.11 | — | 1.08 | — | — | — | — | — | — | — | — | — | — | — | — | |
| POPL-KF2026.02 | 0.107 | 0.139 | 0.123 | 0.121 | 0.133 | — | — | — | — | — | — | — | 0.06 | 0.074 | 0.089 | 0.05 | 0.066 | 0.169 | 0.085 | 0.125 | 0.103 | — | — | — | |
| KimeraSensor=S+I, Alignment=SE(3)-aligned2024.05 | 0.11 | 0.1 | 0.16 | 0.24 | 0.35 | 0.05 | 0.08 | 0.07 | 0.08 | 0.1 | 0.13 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Kimerasensor_mode=stereo, algorithm_type=optimization-based2023.12 | 0.11 | 0.1 | 0.16 | 0.24 | 0.35 | 0.05 | 0.08 | 0.07 | 0.08 | 0.1 | 0.134 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| EPLF-VINSclosed-loop module=disabled2026.02 | 0.136 | 0.089 | 0.115 | 0.271 | 0.175 | — | — | — | — | — | — | — | 0.076 | 0.078 | 0.138 | 0.162 | 0.078 | 0.221 | 0.126 | 0.157 | 0.14 | — | — | — | |
| Online VIOSensor=M+I, Alignment=SE(3)-aligned2024.05 | 0.14 | 0.13 | 0.2 | 0.22 | 0.2 | 0.05 | 0.07 | 0.16 | 0.04 | 0.11 | 0.13 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OpenVINS2026.02 | 0.141 | 0.153 | 0.132 | 0.185 | 0.361 | — | — | — | — | — | — | — | 0.057 | 0.064 | 0.078 | 0.09 | 0.055 | 0.24 | 0.097 | 0.194 | 0.142 | — | — | — | |
| VINS-MonoSensor=M+I, Alignment=SE(3)-aligned2024.05 | 0.15 | 0.15 | 0.22 | 0.32 | 0.3 | 0.079 | 0.11 | 0.18 | 0.08 | 0.1 | 0.17 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| VINS-monosensor_mode=monocular, algorithm_type=optimization-based2023.12 | 0.15 | 0.15 | 0.22 | 0.32 | 0.3 | 0.079 | 0.11 | 0.18 | 0.08 | 0.16 | 0.174 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DROID-SLAMCalibration=Uncalibrated2026.03 | 0.154 | 0.256 | 1.01 | 0.719 | 0.762 | — | — | — | — | — | 0.97 | — | 0.465 | 1.679 | 1.439 | 0.878 | 1.414 | 1.895 | — | — | — | — | — | — | |
| OKVISsensor_mode=monocular, algorithm_type=optimization-based2023.12 | 0.16 | 0.22 | 0.24 | 0.34 | 0.47 | 0.09 | 0.2 | 0.24 | 0.13 | 0.16 | 0.225 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DROID-VOLoop closure=false2024.12 | 0.163 | 0.121 | 0.242 | 0.399 | 0.27 | 0.103 | 0.165 | 0.158 | 0.102 | 0.115 | 0.186 | 0.204 | — | — | — | — | — | — | — | — | — | — | — | — | |
| MASt3R-SLAMCalibration=Uncalibrated2026.03 | 0.18 | 0.124 | 0.156 | 0.282 | 0.327 | — | — | — | — | — | 0.164 | — | 0.101 | 0.134 | 0.096 | 0.133 | 0.1 | 0.17 | — | — | — | — | — | — | |
| SelfVIOSensor=M+I, Alignment=SE(3)-aligned2024.05 | 0.19 | 0.15 | 0.21 | 0.16 | 0.29 | 0.08 | 0.09 | 0.1 | 0.11 | 0.08 | 0.15 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ROVIOSensor=M+I, Alignment=SE(3)-aligned2024.05 | 0.21 | 0.25 | 0.25 | 0.49 | 0.52 | 0.1 | 0.1 | 0.14 | 0.12 | 0.14 | 0.23 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ROVIOsensor_mode=monocular, algorithm_type=filter-based2023.12 | 0.21 | 0.25 | 0.25 | 0.49 | 0.52 | 0.1 | 0.1 | 0.14 | 0.12 | 0.14 | 0.232 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MUSt3R-VOCalibration=Uncalibrated2026.03 | 0.265 | — | 0.909 | 0.741 | 0.828 | — | — | — | — | — | 0.456 | — | 0.489 | 0.287 | 0.554 | 0.123 | 0.109 | 0.252 | — | — | — | — | — | — | |
| PL-VINSclosed-loop module=disabled2026.02 | 0.271 | 0.297 | 0.124 | 0.279 | 0.214 | — | — | — | — | — | — | — | 0.061 | 0.086 | 0.144 | 0.066 | 0.099 | 0.165 | 0.103 | 0.237 | 0.164 | — | — | — | |
| OKVISSensor=M+I, Alignment=SE(3)-aligned2024.05 | 0.33 | 0.37 | 0.25 | 0.27 | 0.39 | 0.094 | 0.14 | 0.21 | 0.09 | 0.17 | 0.23 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OKVISSensor Modality=Monocular RGB-IMU2026.06 | 0.33 | 0.37 | 0.25 | 0.27 | 0.39 | — | — | — | — | — | 0.231 | — | 0.094 | 0.14 | 0.21 | 0.09 | 0.17 | 0.23 | — | — | — | — | — | — | |
| VGGT-SLAMCalibration=Uncalibrated2026.03 | 0.4 | 0.701 | 3.599 | — | — | — | — | — | — | — | 0.749 | — | 0.098 | 0.184 | 0.353 | 0.068 | 0.903 | 0.431 | — | — | — | — | — | — | |
| MSCKFSensor=M+I, Alignment=SE(3)-aligned2024.05 | 0.42 | 0.45 | 0.23 | 0.37 | 0.48 | 0.34 | 0.2 | 0.67 | 0.1 | 0.16 | 0.34 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MSCKFsensor_mode=stereo, algorithm_type=filter-based2023.12 | 0.42 | 0.45 | 0.23 | 0.37 | 0.48 | 0.34 | 0.2 | 0.67 | 0.1 | 0.16 | 0.342 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| iSLAMSensor=S+I, Alignment=SE(3)-aligned2024.05 | 0.5 | 0.391 | 0.656 | 1.285 | 1.088 | 0.521 | 0.405 | 0.397 | 0.421 | 0.58 | 0.58 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| VGGT-LongCalibration=Uncalibrated2026.03 | 0.579 | 0.745 | 0.428 | 0.713 | 0.605 | — | — | — | — | — | 0.367 | — | 0.139 | 0.165 | 0.198 | 0.202 | 0.13 | 0.137 | — | — | — | — | — | — | |
| Tartan VOLoop closure=false2024.12 | 0.639 | 0.325 | 0.55 | 1.153 | 1.021 | 0.447 | 0.389 | 0.622 | 0.433 | 0.749 | 0.68 | 1.152 | — | — | — | — | — | — | — | — | — | — | — | — | |
| DeepV2D2025.12 | 0.739 | 1.144 | 0.752 | 1.492 | 1.567 | — | — | — | — | — | 1.298 | — | 0.981 | 0.801 | 1.57 | 0.29 | 2.202 | 2.743 | — | — | — | — | — | — | |
| DeepV2DCalibration=Calibrated2026.03 | 0.739 | 1.144 | 0.752 | 1.492 | 1.567 | — | — | — | — | — | 1.298 | — | 0.981 | 0.801 | 1.57 | 0.29 | 2.202 | 2.743 | — | — | — | — | — | — | |
| DeepFactors2025.12 | 1.587 | 1.479 | 3.139 | 5.331 | 4.002 | — | — | — | — | — | 2.04 | — | 1.52 | 0.679 | 0.9 | 0.876 | 1.905 | 1.021 | — | — | — | — | — | — | |
| DeepFactorsCalibration=Calibrated2026.03 | 1.587 | 1.479 | 3.139 | 5.331 | 4.002 | — | — | — | — | — | 2.04 | — | 1.52 | 0.679 | 0.9 | 0.876 | 1.905 | 1.021 | — | — | — | — | — | — | |
| DeepV2DLoop closure=false2024.12 | 1.614 | 1.492 | 1.635 | 1.775 | 1.013 | 0.717 | 0.695 | 1.483 | 0.839 | 1.052 | 1.173 | 0.591 | — | — | — | — | — | — | — | — | — | — | — | — | |
| AirSLAM2026.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 11.18 | — | — | |
| DROID-SLAM2026.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 18.56 | — | — | |
| Kimera-VIO2026.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 14.09 | — | — | |
| OKVIS2026.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 13.72 | — | — | |
| OTPL-VIO2026.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 8.06 | — | — | |
| PLF-VINS2026.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 16.06 | — | — | |
| Struct-VIO2026.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 17.05 | — | — | |
| VINS-Fusion2026.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 17.84 | — | — |