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Monocular Visual-Inertial Odometry on TUM-VI (Mag2 sequence)
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2.21
RMSE ATE (m)
Ours
2.174
2.417
2.66
2.903
Nov 26, 2025
RMSE ATE (m)
Updated 1mo ago
Evaluation Results
Method
Method
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RMSE ATE (m)
Ours
Evaluation Protocol=SE...
2025.11
2.21
DM-VIO
Evaluation Protocol=SE...
2025.11
2.24
OKVIS
Evaluation Protocol=SE...
2025.11
2.73
VINS
Evaluation Protocol=SE...
2025.11
3.11
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