Final benchmark entries only
GitHub Pages benchmark
A reproducible VIO benchmark website
This site teaches visual-inertial odometry, lists final public benchmark systems, documents EPA evaluation, and gives GitHub/Docker-centered reproduction instructions without fabricating benchmark numbers.
EuRoC, UZH-FPV, LaMAria, GrandTour, Aqualoc
Beginner path plus expert checks
Accuracy, drift, runtime, resource
OpenVINS compatibility retained
Website structure
A multi-page benchmark portal
The benchmark is no longer a single scroll document. Each public task has its own page, with direct links that work on GitHub Pages.
Learn VIO
A clickable tutorial path from sensor inputs to EPA evaluation.
Systems
Final public benchmark systems only; non-final exploratory entries stay outside the public portal.
Results
TBD-safe dashboard tables with schema, artifacts, and status values.
Resource Profiling
Timing, CPU, memory, platform metadata, and status-output schema.
Reproduce
GitHub, Docker, dataset, EPA, timing, and resource-output contract.
Public benchmark scope
Final systems and datasets only
The public site lists the final benchmark set only. Non-final exploratory systems stay outside public lists, matrices, charts, and result tables.
System list
| System | Family | Modes | Status |
|---|---|---|---|
| OpenVINS | Filtering / MSCKF-style VIO | mono_imu, stereo_imu | TBD |
| sqrtVINS | Filtering / square-root VIO | mono_imu, stereo_imu | TBD |
| VINS-Fusion | Optimization-based visual-inertial odometry | mono_imu, stereo_imu | TBD |
| SVO Pro | Sparse visual odometry with inertial support | mono_imu, stereo_imu | TBD |
| ROVIO | Robust filtering-based VIO | mono_imu | TBD |
| ORB-SLAM3 | Feature-based visual-inertial odometry mode | mono_imu, stereo_imu | TBD |
| Kimera-VIO | Stereo visual-inertial odometry | stereo_imu | TBD |
| BASALT | Optimization-based VIO | stereo_imu | TBD |
| DM-VIO | Direct monocular visual-inertial odometry | mono_imu | TBD |
| OKVIS2 / OKVIS2-X | Keyframe optimization-based VIO | stereo_imu | TBD |