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Benchmarks
Visual-Inertial SLAM on Drunkard's Dataset Medium deformation - L1
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9.4
ATE RMSE (mm)
DefVINS
9
11.7
14.4
17.1
Jan 2, 2026
ATE RMSE (mm)
RPE (mm)
Frames Processed
Updated 4d ago
Evaluation Results
Method
Method
Links
ATE RMSE (mm)
RPE (mm)
Frames Processed
DefVINS
variant=Full
2026.01
9.4
2
2,128
NR-SLAM
2026.01
11.6
2
1,968
DefVINS
variant=VI-R
2026.01
13.2
2.4
2,096
DefVINS
variant=V-NR
2026.01
17.1
3.1
2,057
ORB-SLAM3
2026.01
19.4
2.1
1,879
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