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Benchmarks
Visual-Inertial Initialization on EuRoC
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0.001
Initialization Time (s)
Ours
-0.099002
0.575739
1.25048
1.925221
Nov 24, 2025
Initialization Time (s)
SfM Time (s)
Bias/Gyro Est. Time (s)
Vel. & Grav. Est. Time (s)
Point Triangulation Time (s)
Updated 2mo ago
Evaluation Results
Method
Method
Links
Initialization Time (s)
SfM Time (s)
Bias/Gyro Est. Time (s)
Vel. & Grav. Est. Time (s)
Point Triangulation Time (s)
Ours
2025.11
0.001
-
0
0.0005
0.0004
DRT-tight
2025.11
0.0052
-
0.002
0.0028
0.0004
AS-MLE
2025.11
0.0305
0.0303
0.0002
0.0001
0
VINS-Mono
2025.11
0.0309
0.0304
0.0004
0.0001
0
Ours
Adaptive?=✓
2025.11
0.48
-
-
-
-
Campos et al.
Adaptive?=✓
2025.11
2.16
-
-
-
-
He et al.
Adaptive?=✗
2025.11
2.5
-
-
-
-
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