ResearchBenchmarksVisual-inertial odometry on Real Deformable Sequences Medium Deformation R2Visual-inertial odometry on Real Deformable Sequences Medium Deformation R2Follow10.2ATE RMSE (mm)DefVINS9.82412.36214.917.438Jan 2, 2026Evaluation resultsMethodMethodLinksATE RMSE (mm)RPE (mm)Frames ProcessedDefVINSvariant=Fullvariant=Full2026.0110.221,768NR-SLAM2026.0110.52.21,658DefVINSvariant=VI-Rvariant=VI-R2026.0115.12.51,742ORB-SLAM32026.0115.32.31,589DefVINSvariant=V-NRvariant=V-NR2026.0119.62.71,706