ResearchBenchmarksVisual-inertial odometry on Real Deformable Sequences (High Deformation)Visual-inertial odometry on Real Deformable Sequences (High Deformation)Follow15.6ATE RMSE (mm)DefVINS13.36828.43443.558.566Jan 2, 2026Evaluation resultsMethodMethodLinksATE RMSE (mm)RPE (mm)Frames ProcessedDefVINSvariant=Fullvariant=Full2026.0115.62.41,706DefVINSvariant=VI-Rvariant=VI-R2026.0133.22.91,668NR-SLAM2026.0139.84.51,542DefVINSvariant=V-NRvariant=V-NR2026.0144.541,623ORB-SLAM32026.0171.46.11,194