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Monocular Visual-Inertial Odometry on TUM-VI (Mag1 sequence)
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2.19
ATE RMSE (m)
VINS
2.138
2.489
2.84
3.191
Nov 26, 2025
ATE RMSE (m)
Updated 1mo ago
Evaluation Results
Method
Method
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ATE RMSE (m)
VINS
Evaluation Protocol=SE...
2025.11
2.19
DM-VIO
Evaluation Protocol=SE...
2025.11
2.35
Ours
Evaluation Protocol=SE...
2025.11
3.12
OKVIS
Evaluation Protocol=SE...
2025.11
3.49
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