ResearchBenchmarksVisual-Inertial SLAM on Drunkard's Dataset Extreme deformation - L3Visual-Inertial SLAM on Drunkard's Dataset Extreme deformation - L3Follow19.6ATE RMSE (mm)DefVINS18.2627.30536.3545.395Jan 2, 2026Evaluation resultsMethodMethodLinksATE RMSE (mm)RPE (mm)Frames ProcessedDefVINSvariant=Fullvariant=Full2026.0119.63.31,919NR-SLAM2026.0125.44.31,729DefVINSvariant=VI-Rvariant=VI-R2026.0130.34.11,876DefVINSvariant=V-NRvariant=V-NR2026.0139.25.21,814ORB-SLAM32026.0153.151,612