Visual-Inertial Odometry on EuRoC MAV MH04 Hard
9.93ATE RMSE (cm)OTPL-VIO
Evaluation results
| Method | Links | |
|---|---|---|
| OTPL-VIO2026.03 | 9.93 | |
| OKVIS2026.03 | 13.8 | |
| AirSLAM2026.03 | 16.7 | |
| PLF-VINS2026.03 | 24 | |
| Kimera-VIO2026.03 | 24 | |
| Struct-VIO2026.03 | 27.5 | |
| VINS-Fusion2026.03 | 33.1 | |
| DROID-SLAM2026.03 | 39.9 |