Final benchmark entries only
GitHub Pages benchmark
VIO benchmark portal
A public gateway for learning VIO, checking the final benchmark scope, reading table-derived results, and reproducing outputs through GitHub, Docker, SOP folders, and EPA.
Choose a path
Start from the job you need to do
The homepage is a gateway. Detailed benchmark scope, dataset contracts, EPA commands, and resource profiling live on their own pages.
I am new to VIO
Start with the beginner lessons before touching metrics or estimator assumptions.
I need the datasets
Check the SOP dataset targets, truth paths, adapter paths, and GT readiness.
I need benchmark status
Open the public dashboard imported from the current result tables.
I need to reproduce it
Use the GitHub, Docker, SOP output, and EPA artifact contract.
I need the system list
Review only the final public VIO / odometry systems.
EuRoC, UZH-FPV, LaMAria, GrandTour, Aqualoc
Beginner path plus expert checks
Accuracy, drift, runtime, resource
OpenVINS compatibility retained
Public status
What is already visible
The public portal now exposes table-derived benchmark values where the uploaded result source has numeric cells.
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, binocular_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 | mono_imu, 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 |