ResearchBenchmarksVisual-Inertial SLAM on Drunkard's Dataset Hard deformation - L2Visual-Inertial SLAM on Drunkard's Dataset Hard deformation - L2Follow14.3ATE RMSE (mm)DefVINS13.1820.7428.335.86Jan 2, 2026Evaluation resultsMethodMethodLinksATE RMSE (mm)RPE (mm)Frame CountDefVINSvariant=Fullvariant=Full2026.0114.33.12,021NR-SLAM2026.0119.531,842DefVINSvariant=VI-Rvariant=VI-R2026.0121.13.41,986DefVINSvariant=V-NRvariant=V-NR2026.0127.44.11,928ORB-SLAM32026.0142.33.21,746