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Benchmarks
Visual-Inertial Initialization on TUM-VI (room4)
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2.45
Gravity Error (deg)
Ours (FF)
2.3172
3.2136
4.11
5.0064
May 17, 2026
Gravity Error (deg)
Velocity Error (m/s)
Updated 15d ago
Evaluation Results
Method
Method
Links
Gravity Error (deg)
Velocity Error (m/s)
Ours (FF)
RANSAC=true
2026.05
2.45
0.31
Ours (FF)
RANSAC=false
2026.05
2.6
0.33
Dep.(AB)
2026.05
5.07
0.55
Dong-Si
2026.05
5.77
0.53
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