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Benchmarks
Velocity Estimation on Real-world experiments Contact phase
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0.0121
RMSE
contact-aware VIO
0.010108
0.023554
0.037
0.050446
Feb 9, 2026
RMSE
Mean Error
Max Error
Std Dev Error
Updated 4d ago
Evaluation Results
Method
Method
Links
RMSE
Mean Error
Max Error
Std Dev Error
contact-aware VIO
2026.02
0.0121
0.0089
0.0516
0.0117
VINS-Fusion
2026.02
0.0356
0.0207
0.1174
0.0356
OpenVINS
2026.02
0.0619
0.0493
0.2123
0.0619
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