ResearchBenchmarksVisual-inertial odometry on Real Deformable Sequences Medium Deformation R4Visual-inertial odometry on Real Deformable Sequences Medium Deformation R4Follow11.4ATE RMSE (mm)DefVINS9.93219.84129.7539.659Jan 2, 2026Evaluation resultsMethodMethodLinksATE RMSE (mm)RPE (mm)Frames ProcessedDefVINSvariant=Fullvariant=Full2026.0111.41.91,736NR-SLAM2026.0119.43.41,504DefVINSvariant=VI-Rvariant=VI-R2026.0124.921,603DefVINSvariant=V-NRvariant=V-NR2026.0130.83.11,568ORB-SLAM32026.0148.14.61,387