ResearchBenchmarksVisual-Inertial SLAM on Drunkard's Dataset Low deformation - L0Visual-Inertial SLAM on Drunkard's Dataset Low deformation - L0Follow5.4ATE RMSE (mm)NR-SLAM5.2486.2747.38.326Jan 2, 2026Evaluation resultsMethodMethodLinksATE RMSE (mm)RPE (mm)# FramesNR-SLAM2026.015.412,061ORB-SLAM32026.0161.11,987DefVINSvariant=Fullvariant=Full2026.016.81.22,198DefVINSvariant=VI-Rvariant=VI-R2026.017.11.92,169DefVINSvariant=V-NRvariant=V-NR2026.019.22.22,124