Visual-Inertial Odometry on EuRoC (Specific Sequence Subset)
0.2705t-APE (MH05)ALIKED
Evaluation results
| Method | Links | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| ALIKEDNumber of detected keypoints=300, Base VIO System=OpenVINS, Category=End-to-End2026.04 | 0.2705 | 0.1534 | 2.4034 | 1.3029 | 0.0553 | 2.5894 | 0.0749 | 3.0517 | 0.067 | 2.0453 | 0.1266 | 2.2436 | 0.1246 | 2.2727 | |
| ViBA(fθ)Number of detected keypoints=300, Base VIO System=OpenVINS, Feature Extractor=SuperPoint2026.04 | 0.3038 | 0.1392 | 1.8571 | 1.1031 | 0.0537 | 2.3767 | 0.0597 | 1.923 | 0.0464 | 2.3165 | 0.1357 | 1.722 | 0.1231 | 1.8831 | |
| LET-NETNumber of detected keypoints=300, Base VIO System=OpenVINS, Category=End-to-End2026.04 | 0.3481 | 0.1958 | 2.2749 | 1.2943 | 0.0875 | 2.4295 | 0.0847 | 3.4756 | 0.0657 | 2.2186 | 0.5872 | 2.2181 | 0.2282 | 2.329 | |
| SuperGlueNumber of detected keypoints=300, Base VIO System=OpenVINS, Feature Extractor=SuperPoint2026.04 | 0.4013 | 0.1826 | 2.1458 | 1.8642 | 0.0725 | 2.6453 | 0.0896 | 2.7431 | 0.0814 | 2.4187 | 0.2367 | 2.3314 | 0.1774 | 2.3581 | |
| LightGlueNumber of detected keypoints=300, Base VIO System=OpenVINS, Feature Extractor=SuperPoint2026.04 | 0.4339 | 0.1647 | 2.0279 | 1.2753 | 0.0709 | 2.8605 | 0.092 | 2.5322 | 0.0737 | 2.3279 | 0.2077 | 2.2267 | 0.1738 | 2.2084 | |
| ZippyPointNumber of detected keypoints=300, Base VIO System=OpenVINS, Category=End-to-End2026.04 | 0.4895 | 0.2053 | 2.5637 | 2.1146 | 0.0832 | 2.9824 | 0.1098 | 3.1457 | 0.0976 | 2.7543 | 0.2681 | 2.6189 | 0.2089 | 2.6966 | |
| OpenVINSNumber of detected keypoints=300, Base VIO System=OpenVINS2026.04 | 0.4936 | 0.1509 | 1.8826 | 2.2101 | 0.0583 | 2.3035 | 0.0601 | 3.0555 | 0.0578 | 2.0987 | 0.2001 | 2.7169 | 0.1701 | 2.3779 | |
| NN + mutualNumber of detected keypoints=300, Base VIO System=OpenVINS, Feature Extractor=SuperPoint2026.04 | 0.6821 | 0.3125 | 3.2147 | 3.8425 | 0.1184 | 3.9562 | 0.1567 | 4.2158 | 0.1432 | 3.4876 | 0.3985 | 3.9021 | 0.3019 | 3.7698 | |
| XFeatNumber of detected keypoints=300, Base VIO System=OpenVINS, Category=End-to-End2026.04 | 0.6939 | — | — | 3.6493 | 0.0767 | 2.7285 | 0.1427 | 2.9422 | 0.2137 | 4.7513 | — | — | 0.2818 | 3.5178 |