ResearchBenchmarksVisual-inertial odometry on Real Deformable Sequences Low Deformation R1Visual-inertial odometry on Real Deformable Sequences Low Deformation R1Follow7.5ATE RMSE (mm)ORB-SLAM37.2728.81110.3511.889Jan 2, 2026Evaluation resultsMethodMethodLinksATE RMSE (mm)RPE (mm)Frames ProcessedORB-SLAM32026.017.51.41,684NR-SLAM2026.018.61.61,743DefVINSvariant=Fullvariant=Full2026.0191.61,770DefVINSvariant=VI-Rvariant=VI-R2026.0110.61.81,743DefVINSvariant=V-NRvariant=V-NR2026.0113.22.11,751