Visual-Inertial Odometry on UMA-VI low-texture sequences
5.12Corridor ATE RMSE (eng)OTPL-VIO
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| OTPL-VIO2026.03 | 5.12 | 20.19 | 18.05 | 10.29 | 4.37 | 11.6 | |
| AirSLAM2026.03 | 6.2 | 48.99 | 38.82 | 18.7 | 17.5 | 26.04 | |
| PL-VINS2026.03 | 34.52 | 55.58 | 50.24 | 22.03 | 29.81 | 38.43 | |
| VINS-Fusion2026.03 | 39.92 | 33.14 | 26.03 | 19.23 | 23.23 | 28.31 |