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Benchmarks
Linear System Evaluation (VINS Initialization) on EuRoC Average
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3.54
Gravity Error
Ours
3.4328
4.1564
4.88
5.6036
May 17, 2026
Gravity Error
Velocity Error (m/s)
Updated 15d ago
Evaluation Results
Method
Method
Links
Gravity Error
Velocity Error (m/s)
Ours
RANSAC=true
2026.05
3.54
0.56
Ours
RANSAC=false
2026.05
3.58
0.58
DRT
2026.05
3.65
0.41
Dep.(AB)
2026.05
3.84
0.66
sqrtVINS
2026.05
4.07
0.4
Dong-Si
2026.05
6.22
0.59
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