ResearchBenchmarksVisual-Inertial Odometry on Real-world Experiments 4_campusVisual-Inertial Odometry on Real-world Experiments 4_campusFollow1.773ATE RMSE (m)POPL-KF1.724082.054292.38452.71471Feb 6, 2026Evaluation resultsMethodMethodLinksATE RMSE (m)POPL-KF2026.021.773POPL-KFline feature culling=f...line feature culling=false2026.022.115PO-KF2026.022.362POPL-KFpose-only representati...pose-only representation=false2026.022.459PO-KFstructure-preserving (...structure-preserving (SP)=true2026.022.63OpenVINS2026.022.786EPLF-VINS2026.022.996