ResearchBenchmarksVisual-Inertial Odometry on Real-world Experiments lab_meanVisual-Inertial Odometry on Real-world Experiments lab_meanFollow0.076ATE RMSE (m)POPL-KF0.074040.087270.10050.11373Feb 6, 2026Evaluation resultsMethodMethodLinksATE RMSE (m)POPL-KF2026.020.076POPL-KFline feature culling=f...line feature culling=false2026.020.082PO-KFstructure-preserving (...structure-preserving (SP)=true2026.020.092POPL-KFpose-only representati...pose-only representation=false2026.020.097PO-KF2026.020.105OpenVINS2026.020.112EPLF-VINS2026.020.125