ResearchBenchmarksVisual-inertial odometry on Real Deformable Sequences Low Deformation R0Visual-inertial odometry on Real Deformable Sequences Low Deformation R0Follow6.9ATE RMSEORB-SLAM36.7447.7978.859.903Jan 2, 2026Evaluation resultsMethodMethodLinksATE RMSERPEFrames ProcessedORB-SLAM32026.016.91.21,810NR-SLAM2026.017.11.41,804DefVINSvariant=Full (visual-i...variant=Full (visual-inertial, non-rigid)2026.018.11.51,804DefVINSvariant=VI-R (visual-i...variant=VI-R (visual-inertial, rigid)2026.018.91.61,802DefVINSvariant=V-NR (visual-o...variant=V-NR (visual-only, non-rigid)2026.0110.81.91,805