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Benchmarks
Visual-Inertial SLAM on Drunkard's Dataset Extreme deformation - L3
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19.6
ATE RMSE (mm)
DefVINS
18.26
27.305
36.35
45.395
Jan 2, 2026
ATE RMSE (mm)
RPE (mm)
Frames Processed
Updated 1mo ago
Evaluation Results
Method
Method
Links
ATE RMSE (mm)
RPE (mm)
Frames Processed
DefVINS
variant=Full
2026.01
19.6
3.3
1,919
NR-SLAM
2026.01
25.4
4.3
1,729
DefVINS
variant=VI-R
2026.01
30.3
4.1
1,876
DefVINS
variant=V-NR
2026.01
39.2
5.2
1,814
ORB-SLAM3
2026.01
53.1
5
1,612
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