ResearchBenchmarksVisual-Inertial Odometry on Real-world Experiments campus_meanVisual-Inertial Odometry on Real-world Experiments campus_meanFollow2.02ATE RMSE (m)POPL-KF1.969642.309572.64952.98943Feb 6, 2026Evaluation resultsMethodMethodLinksATE RMSE (m)POPL-KF2026.022.02POPL-KFline feature culling=f...line feature culling=false2026.022.412POPL-KFpose-only representati...pose-only representation=false2026.022.454PO-KF2026.022.532OpenVINS2026.022.915PO-KFstructure-preserving (...structure-preserving (SP)=true2026.022.924EPLF-VINS2026.023.279