ResearchBenchmarksVisual-inertial odometry on Real Deformable Sequences High Deformation R6Visual-inertial odometry on Real Deformable Sequences High Deformation R6Follow19.8ATE RMSE (mm)DefVINS16.7637.2857.878.32Jan 2, 2026Evaluation resultsMethodMethodLinksATE RMSE (mm)RPE (mm)Frames ProcessedDefVINSvariant=Fullvariant=Full2026.0119.831,641DefVINSvariant=VI-Rvariant=VI-R2026.01413.51,604NR-SLAM2026.0157.25.21,476DefVINSvariant=V-NRvariant=V-NR2026.0160.84.71,558ORB-SLAM32026.0195.87.8982