ResearchBenchmarksVisual-inertial odometry on Real Deformable Sequences Medium Deformation R3Visual-inertial odometry on Real Deformable Sequences Medium Deformation R3Follow10.8ATE RMSEDefVINS10.12814.66419.223.736Jan 2, 2026Evaluation resultsMethodMethodLinksATE RMSERPEFrames Processed CountDefVINSvariant=Fullvariant=Full2026.0110.82.11,719NR-SLAM2026.0117.931,592DefVINSvariant=VI-Rvariant=VI-R2026.0119.92.51,688DefVINSvariant=V-NRvariant=V-NR2026.0126.43.11,651ORB-SLAM32026.0127.63.51,496