ResearchBenchmarksVisual-Inertial Odometry on Real-world Experiments 5_campusVisual-Inertial Odometry on Real-world Experiments 5_campusFollow2.266ATE RMSE (m)POPL-KF2.214162.564082.9143.26392Feb 6, 2026Evaluation resultsMethodMethodLinksATE RMSE (m)POPL-KF2026.022.266POPL-KFpose-only representati...pose-only representation=false2026.022.448PO-KF2026.022.702POPL-KFline feature culling=f...line feature culling=false2026.022.709OpenVINS2026.023.044PO-KFstructure-preserving (...structure-preserving (SP)=true2026.023.217EPLF-VINS2026.023.562