ResearchBenchmarksVisual-Inertial Odometry on Real-world Experiments 2_lab_easyVisual-Inertial Odometry on Real-world Experiments 2_lab_easyFollow0.044ATE RMSE (m)POPL-KF0.042360.053430.06450.07557Feb 6, 2026Evaluation resultsMethodMethodLinksATE RMSE (m)POPL-KF2026.020.044PO-KFstructure-preserving (...structure-preserving (SP)=true2026.020.061EPLF-VINS2026.020.064POPL-KFpose-only representati...pose-only representation=false2026.020.064POPL-KFline feature culling=f...line feature culling=false2026.020.067OpenVINS2026.020.07PO-KF2026.020.085