ResearchBenchmarksVisual-Inertial Odometry on Real-world Experiments 3_lab_hardVisual-Inertial Odometry on Real-world Experiments 3_lab_hardFollow0.096ATE RMSE (m)POPL-KF0.092440.116470.14050.16453Feb 6, 2026Evaluation resultsMethodMethodLinksATE RMSE (m)POPL-KFline feature culling=f...line feature culling=false2026.020.096POPL-KF2026.020.108PO-KFstructure-preserving (...structure-preserving (SP)=true2026.020.123PO-KF2026.020.124POPL-KFpose-only representati...pose-only representation=false2026.020.129OpenVINS2026.020.154EPLF-VINS2026.020.185