ResearchBenchmarksVisual-Inertial SLAM on Drunkard's Dataset Medium deformation - L1Visual-Inertial SLAM on Drunkard's Dataset Medium deformation - L1Follow9.4ATE RMSE (mm)DefVINS911.714.417.1Jan 2, 2026Evaluation resultsMethodMethodLinksATE RMSE (mm)RPE (mm)Frames ProcessedDefVINSvariant=Fullvariant=Full2026.019.422,128NR-SLAM2026.0111.621,968DefVINSvariant=VI-Rvariant=VI-R2026.0113.22.42,096DefVINSvariant=V-NRvariant=V-NR2026.0117.13.12,057ORB-SLAM32026.0119.42.11,879