Public dashboard

Benchmark results

Numeric cells are imported from the uploaded VINS result tables after public-system filtering. Missing, dash, and nonnumeric cells remain TBD.

42Primary tables

ATE and RPE result tables

2254Numeric cells

Primary source-table values

81TBD cells

Primary cells not averaged silently

10Public systems

Final public set only

5Datasets

EuRoC, UZH-FPV, LaMAria, GrandTour, Aqualoc

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How to read this dashboard

The public page is not a raw PDF dump. It keeps only public benchmark systems, preserves source-table values, separates cross-check runs, and marks missing planned cells as TBD.

Dataset coverage

Dataset	Primary tables	Public variants	Numeric cells	TBD cells
EuRoC MAV	4	17	377	24
UZH-FPV	8	16	604	24
LaMAria	10	8	388	13
SubT-MRS / GrandTour	14	11	671	18
Aqualoc	6	7	214	2

Result source: vins_result.pdf. Values are printed as table pairs exactly as imported; this page does not recompute hidden averages or merge duplicate source rows.

Primary ATE averages

Dataset	Subset	System	Mode	ATE average	Coverage	Status
EuRoC MAV	Vicon Room	ROVIO	Mono IMU	1.765 / 0.183	7/7	Imported
EuRoC MAV	Vicon Room	SVO Pro	Mono IMU	1.977 / 0.080	5/7	Partial
EuRoC MAV	Vicon Room	SVO Pro	Stereo IMU	2.101 / 0.096	7/7	Imported
EuRoC MAV	Vicon Room	DM-VIO	Mono IMU	TBD	6/7	Partial
EuRoC MAV	Vicon Room	VINS-Fusion	Mono IMU	44.275 / 3313.282	7/7	Imported
EuRoC MAV	Vicon Room	VINS-Fusion	Stereo IMU	3.217 / 0.151	7/7	Imported
EuRoC MAV	Vicon Room	sqrtVINS	Mono IMU	1.535 / 0.063	7/7	Imported
EuRoC MAV	Vicon Room	sqrtVINS	Stereo IMU	1.573 / 0.065	7/7	Imported
EuRoC MAV	Vicon Room	ORB-SLAM3	Mono IMU	1.390 / 0.071	7/7	Imported
EuRoC MAV	Vicon Room	ORB-SLAM3	Stereo IMU	2.346 / 0.101	7/7	Imported
EuRoC MAV	Vicon Room	BASALT	Stereo IMU	1.407 / 0.060	5/7	Partial
EuRoC MAV	Vicon Room	OpenVINS	Binocular IMU	1.405 / 0.076	7/7	Imported
EuRoC MAV	Vicon Room	OpenVINS	Mono IMU	1.363 / 0.085	7/7	Imported
EuRoC MAV	Vicon Room	OpenVINS	Stereo IMU	1.421 / 0.067	7/7	Imported
EuRoC MAV	Vicon Room	Kimera-VIO	Mono IMU	2.807 / 0.344	7/7	Imported
EuRoC MAV	Vicon Room	Kimera-VIO	Stereo IMU	2.305 / 0.111	5/7	Partial
EuRoC MAV	Vicon Room	OKVIS2-X	Stereo IMU	1.409 / 0.160	7/7	Imported
EuRoC MAV	Machine Hall	ROVIO	Mono IMU	2.127 / 0.481	6/6	Imported
EuRoC MAV	Machine Hall	SVO Pro	Stereo IMU	1.277 / 0.147	6/6	Imported
EuRoC MAV	Machine Hall	DM-VIO	Mono IMU	TBD	5/6	Partial
EuRoC MAV	Machine Hall	VINS-Fusion	Mono IMU	2.261 / 0.196	6/6	Imported
EuRoC MAV	Machine Hall	VINS-Fusion	Stereo IMU	1.674 / 0.309	6/6	Imported
EuRoC MAV	Machine Hall	sqrtVINS	Mono IMU	1.229 / 0.251	6/6	Imported
EuRoC MAV	Machine Hall	sqrtVINS	Stereo IMU	1.646 / 0.255	6/6	Imported
EuRoC MAV	Machine Hall	ORB-SLAM3	Mono IMU	3.758 / 0.380	6/6	Imported
EuRoC MAV	Machine Hall	ORB-SLAM3	Stereo IMU	4.079 / 0.096	6/6	Imported
EuRoC MAV	Machine Hall	BASALT	Stereo IMU	0.902 / 0.088	6/6	Imported
EuRoC MAV	Machine Hall	OpenVINS	Binocular IMU	1.108 / 0.240	6/6	Imported
EuRoC MAV	Machine Hall	OpenVINS	Mono IMU	1.332 / 0.220	6/6	Imported
EuRoC MAV	Machine Hall	OpenVINS	Stereo IMU	1.067 / 0.157	6/6	Imported
EuRoC MAV	Machine Hall	Kimera-VIO	Mono IMU	2.617 / 0.685	3/6	Partial
EuRoC MAV	Machine Hall	Kimera-VIO	Stereo IMU	2.584 / 0.252	5/6	Partial
EuRoC MAV	Machine Hall	OKVIS2-X	Stereo IMU	1.007 / 0.184	6/6	Imported
UZH-FPV	Indoor	ROVIO	Mono IMU	3.512 / 0.611	7/7	Imported
UZH-FPV	Indoor	SVO Pro	Mono IMU	1.100 / 0.242	7/7	Imported
UZH-FPV	Indoor	SVO Pro	Stereo IMU	2.303 / 1.152	7/7	Imported
UZH-FPV	Indoor	VINS-Fusion	Mono IMU	15.712 / 15.230	7/7	Imported
UZH-FPV	Indoor	VINS-Fusion	Stereo IMU	6.692 / 1.679	7/7	Imported
UZH-FPV	Indoor	sqrtVINS	Mono IMU	2.191 / 0.302	7/7	Imported
UZH-FPV	Indoor	sqrtVINS	Stereo IMU	2.204 / 0.305	7/7	Imported
UZH-FPV	Indoor	ORB-SLAM3	Mono IMU	1.136 / 0.326	6/7	Partial
UZH-FPV	Indoor	ORB-SLAM3	Stereo IMU	1.007 / 0.701	6/7	Partial
UZH-FPV	Indoor	BASALT	Stereo IMU	2.814 / 0.813	5/7	Partial
UZH-FPV	Indoor	Kimera-VIO	Stereo IMU	7.924 / 2.302	7/7	Imported
UZH-FPV	Indoor	OKVIS2-X	Stereo IMU	9.304 / 3.259	7/7	Imported
UZH-FPV	Indoor	OpenVINS	Binocular IMU	2.011 / 0.266	7/7	Imported
UZH-FPV	Indoor	OpenVINS	Mono IMU	2.049 / 0.272	7/7	Imported
UZH-FPV	Indoor	OpenVINS	Stereo IMU	2.034 / 0.258	7/7	Imported
UZH-FPV	Indoor	DM-VIO	Mono IMU	TBD	2/7	Partial
UZH-FPV	Indoor45	ROVIO	Mono IMU	2.537 / 2.203	6/6	Imported
UZH-FPV	Indoor45	SVO Pro	Mono IMU	4.058 / 1.370	6/6	Imported
UZH-FPV	Indoor45	SVO Pro	Stereo IMU	2.334 / 0.854	6/6	Imported
UZH-FPV	Indoor45	VINS-Fusion	Mono IMU	33.941 / 1156.173	6/6	Imported
UZH-FPV	Indoor45	VINS-Fusion	Stereo IMU	5.346 / 3.502	6/6	Imported
UZH-FPV	Indoor45	sqrtVINS	Mono IMU	0.957 / 0.273	6/6	Imported
UZH-FPV	Indoor45	sqrtVINS	Stereo IMU	0.957 / 0.249	6/6	Imported
UZH-FPV	Indoor45	ORB-SLAM3	Mono IMU	5.341 / 1.258	2/6	Partial
UZH-FPV	Indoor45	ORB-SLAM3	Stereo IMU	32.925 / 3.266	5/6	Partial
UZH-FPV	Indoor45	Kimera-VIO	Stereo IMU	4.986 / 2.312	6/6	Imported
UZH-FPV	Indoor45	OKVIS2-X	Stereo IMU	28.656 / 12.349	6/6	Imported
UZH-FPV	Indoor45	OpenVINS	Binocular IMU	0.997 / 0.282	6/6	Imported
UZH-FPV	Indoor45	OpenVINS	Mono IMU	0.985 / 0.273	6/6	Imported
UZH-FPV	Indoor45	OpenVINS	Stereo IMU	0.919 / 0.254	6/6	Imported
UZH-FPV	Indoor45	BASALT	Stereo IMU	1.611 / 1.418	3/6	Partial
UZH-FPV	Outdoor	ROVIO	Mono IMU	1.991 / 0.800	4/4	Imported
UZH-FPV	Outdoor	SVO Pro	Mono IMU	1.427 / 0.555	4/4	Imported
UZH-FPV	Outdoor	SVO Pro	Stereo IMU	1.805 / 1.608	4/4	Imported
UZH-FPV	Outdoor	VINS-Fusion	Mono IMU	50.592 / 444.938	4/4	Imported
UZH-FPV	Outdoor	VINS-Fusion	Stereo IMU	4.348 / 2.579	4/4	Imported
UZH-FPV	Outdoor	sqrtVINS	Mono IMU	1.885 / 0.695	4/4	Imported
UZH-FPV	Outdoor	sqrtVINS	Stereo IMU	2.095 / 0.691	4/4	Imported
UZH-FPV	Outdoor	ORB-SLAM3	Mono IMU	3.650 / 6.690	3/4	Partial
UZH-FPV	Outdoor	ORB-SLAM3	Stereo IMU	1.983 / 1.375	4/4	Imported
UZH-FPV	Outdoor	Kimera-VIO	Stereo IMU	3.281 / 3.490	3/4	Partial
UZH-FPV	Outdoor	OKVIS2-X	Stereo IMU	3.493 / 4.858	4/4	Imported
UZH-FPV	Outdoor	OpenVINS	Binocular IMU	2.017 / 0.649	4/4	Imported
UZH-FPV	Outdoor	OpenVINS	Mono IMU	1.872 / 0.622	4/4	Imported
UZH-FPV	Outdoor	OpenVINS	Stereo IMU	1.917 / 0.664	4/4	Imported
UZH-FPV	Outdoor	BASALT	Stereo IMU	1.131 / 1.432	2/4	Partial
UZH-FPV	Outdoor45	ROVIO	Mono IMU	2.456 / 0.548	2/2	Imported
UZH-FPV	Outdoor45	SVO Pro	Mono IMU	6.565 / 3.817	2/2	Imported
UZH-FPV	Outdoor45	SVO Pro	Stereo IMU	1.508 / 0.308	2/2	Imported
UZH-FPV	Outdoor45	VINS-Fusion	Mono IMU	14.724 / 4.470	2/2	Imported
UZH-FPV	Outdoor45	VINS-Fusion	Stereo IMU	3.246 / 0.555	2/2	Imported
UZH-FPV	Outdoor45	sqrtVINS	Mono IMU	1.202 / 0.432	2/2	Imported
UZH-FPV	Outdoor45	sqrtVINS	Stereo IMU	1.175 / 0.443	2/2	Imported
UZH-FPV	Outdoor45	Kimera-VIO	Stereo IMU	2.219 / 0.725	2/2	Imported
UZH-FPV	Outdoor45	OKVIS2-X	Stereo IMU	8.134 / 9.260	2/2	Imported
UZH-FPV	Outdoor45	OpenVINS	Binocular IMU	1.098 / 0.425	2/2	Imported
UZH-FPV	Outdoor45	OpenVINS	Mono IMU	1.151 / 0.420	2/2	Imported
UZH-FPV	Outdoor45	OpenVINS	Stereo IMU	1.145 / 0.427	2/2	Imported
LaMAria	Easy	ROVIO	Mono IMU	2.306 / 1.335	4/4	Imported
LaMAria	Easy	SVO Pro	Mono IMU	1.591 / 0.532	4/4	Imported
LaMAria	Easy	VINS-Fusion	Mono IMU	76.188 / 646.403	4/4	Imported
LaMAria	Easy	sqrtVINS	Mono IMU	1.220 / 1.215	4/4	Imported
LaMAria	Easy	ORB-SLAM3	Mono IMU	4.180 / 0.946	4/4	Imported
LaMAria	Easy	OpenVINS	Mono IMU	1.580 / 0.864	4/4	Imported
LaMAria	Easy	OKVIS2-X	Stereo IMU	2.444 / 2.862	4/4	Imported
LaMAria	Easy	DM-VIO	Mono IMU	TBD	1/4	Partial
LaMAria	Medium	ROVIO	Mono IMU	7.283 / 7.347	5/5	Imported
LaMAria	Medium	SVO Pro	Mono IMU	3.500 / 6.053	5/5	Imported
LaMAria	Medium	VINS-Fusion	Mono IMU	61.737 / 78401.202	5/5	Imported
LaMAria	Medium	sqrtVINS	Mono IMU	4.203 / 3.384	5/5	Imported
LaMAria	Medium	ORB-SLAM3	Mono IMU	42.499 / 16.514	4/5	Partial
LaMAria	Medium	OpenVINS	Mono IMU	4.009 / 3.374	5/5	Imported
LaMAria	Medium	OKVIS2-X	Stereo IMU	2.896 / 7.026	5/5	Imported
LaMAria	Medium	DM-VIO	Mono IMU	TBD	1/5	Partial
LaMAria	Hard	ROVIO	Mono IMU	46.652 / 32895.590	4/4	Imported
LaMAria	Hard	SVO Pro	Mono IMU	28.586 / 8196.364	4/4	Imported
LaMAria	Hard	VINS-Fusion	Mono IMU	10.100 / 19.588	4/4	Imported
LaMAria	Hard	sqrtVINS	Mono IMU	7.704 / 9.781	4/4	Imported
LaMAria	Hard	ORB-SLAM3	Mono IMU	103.995 / 2245.326	4/4	Imported
LaMAria	Hard	OpenVINS	Mono IMU	7.185 / 9.304	4/4	Imported
LaMAria	Hard	OKVIS2-X	Stereo IMU	37.434 / 40625.465	4/4	Imported
LaMAria	CP	ROVIO	Mono IMU	104.828 / 18.693	4/4	Imported
LaMAria	CP	SVO Pro	Mono IMU	107.277 / 597.167	4/4	Imported
LaMAria	CP	VINS-Fusion	Mono IMU	104.690 / 18.938	4/4	Imported
LaMAria	CP	sqrtVINS	Mono IMU	105.574 / 17.403	4/4	Imported
LaMAria	CP	ORB-SLAM3	Mono IMU	146.912 / 1899.090	2/4	Partial
LaMAria	CP	OpenVINS	Mono IMU	105.987 / 16.806	4/4	Imported
LaMAria	CP	OKVIS2-X	Stereo IMU	104.512 / 25.080	4/4	Imported
LaMAria	Additional Sequence	ROVIO	Mono IMU	116.693 / 1005587.023	9/9	Imported
LaMAria	Additional Sequence	SVO Pro	Mono IMU	113.834 / 186287.215	9/9	Imported
LaMAria	Additional Sequence	VINS-Fusion	Mono IMU	117.953 / 1341832.418	9/9	Imported
LaMAria	Additional Sequence	sqrtVINS	Mono IMU	106.025 / 19.550	9/9	Imported
LaMAria	Additional Sequence	ORB-SLAM3	Mono IMU	116.096 / 5470.669	6/9	Partial
LaMAria	Additional Sequence	OpenVINS	Mono IMU	113.286 / 331408.131	9/9	Imported
LaMAria	Additional Sequence	OKVIS2-X	Stereo IMU	113.283 / 83630210.846	9/9	Imported
GrandTour	Group 1	ROVIO	Mono IMU	19.117 / 6.499	6/6	Imported
GrandTour	Group 1	SVO Pro	Stereo IMU	10.863 / 8.490	6/6	Imported
GrandTour	Group 1	ORB-SLAM3	Stereo IMU	9.510 / 139.887	3/6	Partial
GrandTour	Group 1	ORB-SLAM3	Mono IMU	12.721 / 6.206	4/6	Partial
GrandTour	Group 1	VINS-Fusion	Mono IMU	98.478 / 5407.039	6/6	Imported
GrandTour	Group 1	VINS-Fusion	Stereo IMU	11.779 / 2.388	6/6	Imported
GrandTour	Group 1	BASALT	Stereo IMU	6.834 / 1.881	5/6	Partial
GrandTour	Group 1	sqrtVINS	Mono IMU	8.173 / 2.054	6/6	Imported
GrandTour	Group 1	sqrtVINS	Stereo IMU	6.359 / 1.689	6/6	Imported
GrandTour	Group 1	OpenVINS	Mono IMU	36.206 / 4070.509	6/6	Imported
GrandTour	Group 1	OpenVINS	Stereo IMU	28.777 / 10615.894	6/6	Imported
GrandTour	Group 1	OpenVINS	Mono IMU	8.987 / 2.293	6/6	Imported
GrandTour	Group 1	OpenVINS	Stereo IMU	40.525 / 13400.920	6/6	Imported
GrandTour	Group 2	ROVIO	Mono IMU	11.266 / 13.795	6/6	Imported
GrandTour	Group 2	SVO Pro	Stereo IMU	1.351 / 0.516	6/6	Imported
GrandTour	Group 2	ORB-SLAM3	Stereo IMU	27.903 / 4.361	6/6	Imported
GrandTour	Group 2	ORB-SLAM3	Mono IMU	11.702 / 11.680	6/6	Imported
GrandTour	Group 2	VINS-Fusion	Mono IMU	23.226 / 3369.595	6/6	Imported
GrandTour	Group 2	VINS-Fusion	Stereo IMU	15.587 / 31.671	6/6	Imported
GrandTour	Group 2	BASALT	Stereo IMU	3.590 / 1.254	5/6	Partial
GrandTour	Group 2	sqrtVINS	Mono IMU	2.715 / 1.676	6/6	Imported
GrandTour	Group 2	sqrtVINS	Stereo IMU	4.385 / 2.789	6/6	Imported
GrandTour	Group 2	OpenVINS	Mono IMU	27.369 / 3718.660	6/6	Imported
GrandTour	Group 2	OpenVINS	Stereo IMU	6.453 / 5.666	6/6	Imported
GrandTour	Group 2	OpenVINS	Mono IMU	28.199 / 1171.936	6/6	Imported
GrandTour	Group 2	OpenVINS	Stereo IMU	13.340 / 58.406	6/6	Imported
GrandTour	Group 3	ROVIO	Mono IMU	38.388 / 48240.711	6/6	Imported
GrandTour	Group 3	SVO Pro	Stereo IMU	3.028 / 1.624	6/6	Imported
GrandTour	Group 3	ORB-SLAM3	Stereo IMU	7.767 / 1.592	6/6	Imported
GrandTour	Group 3	ORB-SLAM3	Mono IMU	11.964 / 5.190	6/6	Imported
GrandTour	Group 3	VINS-Fusion	Mono IMU	59.564 / 4106.682	6/6	Imported
GrandTour	Group 3	VINS-Fusion	Stereo IMU	6.658 / 116.786	6/6	Imported
GrandTour	Group 3	BASALT	Stereo IMU	3.900 / 1.542	5/6	Partial
GrandTour	Group 3	sqrtVINS	Mono IMU	3.221 / 0.866	5/6	Partial
GrandTour	Group 3	sqrtVINS	Stereo IMU	3.207 / 0.776	5/6	Partial
GrandTour	Group 3	OpenVINS	Mono IMU	4.235 / 1.551	5/6	Partial
GrandTour	Group 3	OpenVINS	Stereo IMU	34.078 / 51184.926	5/6	Partial
GrandTour	Group 4	ROVIO	Mono IMU	8.986 / 8.740	6/6	Imported
GrandTour	Group 4	SVO Pro	Stereo IMU	7.254 / 4.275	6/6	Imported
GrandTour	Group 4	ORB-SLAM3	Stereo IMU	11.320 / 4.311	6/6	Imported
GrandTour	Group 4	ORB-SLAM3	Mono IMU	7.724 / 9.511	6/6	Imported
GrandTour	Group 4	VINS-Fusion	Mono IMU	6.659 / 5.210	6/6	Imported
GrandTour	Group 4	VINS-Fusion	Stereo IMU	7.520 / 4.314	6/6	Imported
GrandTour	Group 4	BASALT	Stereo IMU	6.612 / 4.291	6/6	Imported
GrandTour	Group 4	sqrtVINS	Mono IMU	7.503 / 3.901	6/6	Imported
GrandTour	Group 4	sqrtVINS	Stereo IMU	7.655 / 3.902	6/6	Imported
GrandTour	Group 4	OpenVINS	Mono IMU	7.406 / 3.975	6/6	Imported
GrandTour	Group 4	OpenVINS	Stereo IMU	7.485 / 3.705	6/6	Imported
GrandTour	Group 4	OpenVINS	Mono IMU	7.400 / 4.036	6/6	Imported
GrandTour	Group 4	OpenVINS	Stereo IMU	7.465 / 3.694	6/6	Imported
GrandTour	Group 5	ROVIO	Mono IMU	16.624 / 11.553	6/6	Imported
GrandTour	Group 5	SVO Pro	Stereo IMU	5.581 / 1.049	6/6	Imported
GrandTour	Group 5	ORB-SLAM3	Stereo IMU	9.569 / 1.386	6/6	Imported
GrandTour	Group 5	ORB-SLAM3	Mono IMU	20.005 / 6.363	6/6	Imported
GrandTour	Group 5	VINS-Fusion	Mono IMU	4.792 / 1.873	6/6	Imported
GrandTour	Group 5	VINS-Fusion	Stereo IMU	5.574 / 1.585	6/6	Imported
GrandTour	Group 5	BASALT	Stereo IMU	7.390 / 1.277	6/6	Imported
GrandTour	Group 5	sqrtVINS	Mono IMU	5.499 / 1.130	6/6	Imported
GrandTour	Group 5	sqrtVINS	Stereo IMU	5.177 / 1.292	6/6	Imported
GrandTour	Group 5	OpenVINS	Mono IMU	5.748 / 1.174	6/6	Imported
GrandTour	Group 5	OpenVINS	Stereo IMU	5.998 / 1.082	6/6	Imported
GrandTour	Group 5	OpenVINS	Mono IMU	5.728 / 1.135	6/6	Imported
GrandTour	Group 5	OpenVINS	Stereo IMU	6.030 / 1.039	6/6	Imported
GrandTour	Group 6	ROVIO	Mono IMU	10.663 / 6.744	6/6	Imported
GrandTour	Group 6	SVO Pro	Stereo IMU	26.235 / 14803.407	6/6	Imported
GrandTour	Group 6	ORB-SLAM3	Stereo IMU	28.563 / 21.377	6/6	Imported
GrandTour	Group 6	ORB-SLAM3	Mono IMU	35.375 / 31.516	5/6	Partial
GrandTour	Group 6	VINS-Fusion	Mono IMU	71.551 / 113.796	6/6	Imported
GrandTour	Group 6	VINS-Fusion	Stereo IMU	68.253 / 106.296	6/6	Imported
GrandTour	Group 6	BASALT	Stereo IMU	6.143 / 7.764	2/6	Partial
GrandTour	Group 6	sqrtVINS	Mono IMU	3.734 / 5.299	6/6	Imported
GrandTour	Group 6	sqrtVINS	Stereo IMU	4.054 / 5.165	6/6	Imported
GrandTour	Group 6	OpenVINS	Mono IMU	14.293 / 955.585	6/6	Imported
GrandTour	Group 6	OpenVINS	Stereo IMU	4.167 / 3.829	6/6	Imported
GrandTour	Group 6	OpenVINS	Mono IMU	23.732 / 6310.409	6/6	Imported
GrandTour	Group 6	OpenVINS	Stereo IMU	27.644 / 24549.873	6/6	Imported
GrandTour	Group 7	ROVIO	Mono IMU	6.258 / 8.387	5/5	Imported
GrandTour	Group 7	SVO Pro	Stereo IMU	2.481 / 1.294	5/5	Imported
GrandTour	Group 7	ORB-SLAM3	Stereo IMU	15.693 / 4.961	5/5	Imported
GrandTour	Group 7	ORB-SLAM3	Mono IMU	28.561 / 14.233	5/5	Imported
GrandTour	Group 7	VINS-Fusion	Mono IMU	2.526 / 3.770	5/5	Imported
GrandTour	Group 7	VINS-Fusion	Stereo IMU	36.369 / 60.053	5/5	Imported
GrandTour	Group 7	BASALT	Stereo IMU	3.024 / 3.497	4/5	Partial
GrandTour	Group 7	sqrtVINS	Mono IMU	2.043 / 4.122	5/5	Imported
GrandTour	Group 7	sqrtVINS	Stereo IMU	1.379 / 2.043	5/5	Imported
GrandTour	Group 7	OpenVINS	Mono IMU	9.355 / 12.334	5/5	Imported
GrandTour	Group 7	OpenVINS	Stereo IMU	1.402 / 1.015	5/5	Imported
GrandTour	Group 7	OpenVINS	Mono IMU	1.778 / 2.374	5/5	Imported
GrandTour	Group 7	OpenVINS	Stereo IMU	1.422 / 1.184	5/5	Imported
Aqualoc	Archaeo-1	ROVIO	Mono IMU	126.790 / 3.587	6/6	Imported
Aqualoc	Archaeo-1	SVO Pro	Mono IMU	14.361 / 2.178	6/6	Imported
Aqualoc	Archaeo-1	VINS-Fusion	Mono IMU	50.565 / 2.999	6/6	Imported
Aqualoc	Archaeo-1	sqrtVINS	Mono IMU	176.652 / 2.127	6/6	Imported
Aqualoc	Archaeo-1	ORB-SLAM3	Mono IMU	174.385 / 0.450	5/6	Partial
Aqualoc	Archaeo-1	OpenVINS	Mono IMU	32.286 / 2.664	6/6	Imported
Aqualoc	Archaeo-2	ROVIO	Mono IMU	69.010 / 3.655	6/6	Imported
Aqualoc	Archaeo-2	SVO Pro	Mono IMU	3.734 / 0.966	6/6	Imported
Aqualoc	Archaeo-2	VINS-Fusion	Mono IMU	30.968 / 2.556	6/6	Imported
Aqualoc	Archaeo-2	sqrtVINS	Mono IMU	10.838 / 1.656	6/6	Imported
Aqualoc	Archaeo-2	ORB-SLAM3	Mono IMU	159.789 / 1.945	5/6	Partial
Aqualoc	Archaeo-2	OpenVINS	Mono IMU	30.244 / 4.942	6/6	Imported
Aqualoc	Harbor	SVO Pro	Mono IMU	6.206 / 0.702	8/8	Imported
Aqualoc	Harbor	ROVIO	Mono IMU	4.588 / 0.441	8/8	Imported
Aqualoc	Harbor	VINS-Fusion	Mono IMU	67.613 / 2.060	8/8	Imported
Aqualoc	Harbor	sqrtVINS	Mono IMU	4.650 / 0.627	8/8	Imported
Aqualoc	Harbor	ORB-SLAM3	Mono IMU	113.990 / 2.208	8/8	Imported
Aqualoc	Harbor	OpenVINS	Mono IMU	4.201 / 0.472	8/8	Imported

This table reports the source-table Average column where it exists. It does not average across datasets, skipped source cells, or cross-check runs.

Primary result tables

Sequence-level ATE and RPE

Each dataset block keeps the original subset structure from the uploaded result tables. Use the collapsed tables for sequence-level values.

Primary benchmark

EuRoC MAV

Tables: 4
Numeric: 377
TBD: 24

Vicon RoomATE17 rows, 112 numeric cells

System	Mode	Source row	V1 01 easy	V1 02 medium	V1 03 difficult	V2 01 easy	V2 02 medium	V2 03 difficult	Average	Coverage	Status
ROVIO	Mono IMU	rovio	1.374 / 0.086	1.971 / 0.176	3.044 / 0.141	1.350 / 0.240	1.585 / 0.290	1.265 / 0.166	1.765 / 0.183	7/7	Imported
SVO Pro	Mono IMU	svo mono	0.799 / 0.045	2.465 / 0.085	3.344 / 0.112	TBD	1.301 / 0.079	TBD	1.977 / 0.080	5/7	Partial
SVO Pro	Stereo IMU	svo stereo	0.789 / 0.043	2.277 / 0.077	3.114 / 0.088	1.205 / 0.062	2.073 / 0.172	3.146 / 0.134	2.101 / 0.096	7/7	Imported
DM-VIO	Mono IMU	dm vio	0.5848 / 0.0468	1.9912 / 0.0390	1.9061 / 0.0745	0.9507 / 0.0243	0.8887 / 0.0409	1.1708 / 0.1379	TBD	6/7	Partial
VINS-Fusion	Mono IMU	V-Fusion Mono	1.147 / 0.057	3.178 / 0.086	4.450 / 0.168	3.653 / 0.082	124.948 / 14274.423	128.273 / 5604.874	44.275 / 3313.282	7/7	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	0.744 / 0.114	2.901 / 0.109	6.542 / 0.117	3.111 / 0.111	3.047 / 0.128	2.960 / 0.327	3.217 / 0.151	7/7	Imported
sqrtVINS	Mono IMU	sqrtVINs Mono	0.786 / 0.043	1.836 / 0.042	2.634 / 0.058	1.287 / 0.085	1.355 / 0.053	1.310 / 0.097	1.535 / 0.063	7/7	Imported
sqrtVINS	Stereo IMU	sqrtVINs Stereo	0.640 / 0.036	1.898 / 0.052	2.766 / 0.060	1.537 / 0.104	1.356 / 0.053	1.240 / 0.087	1.573 / 0.065	7/7	Imported
ORB-SLAM3	Mono IMU	mono vio orb slam3	0.621 / 0.042	2.425 / 0.071	2.394 / 0.106	0.895 / 0.067	1.010 / 0.051	0.995 / 0.091	1.390 / 0.071	7/7	Imported
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	0.506 / 0.024	4.636 / 0.375	3.811 / 0.043	1.084 / 0.048	1.979 / 0.047	2.058 / 0.066	2.346 / 0.101	7/7	Imported
BASALT	Stereo IMU	stereo basalt	0.654 / 0.035	2.067 / 0.059	2.017 / 0.085	TBD	0.888 / 0.059	TBD	1.407 / 0.060	5/7	Partial
OpenVINS	Binocular IMU	open vins binocular	0.514 / 0.050	1.732 / 0.064	2.955 / 0.058	0.934 / 0.105	1.201 / 0.063	1.092 / 0.115	1.405 / 0.076	7/7	Imported
OpenVINS	Mono IMU	open vins mono	0.587 / 0.057	1.680 / 0.058	2.326 / 0.076	0.881 / 0.130	1.549 / 0.064	1.157 / 0.124	1.363 / 0.085	7/7	Imported
OpenVINS	Stereo IMU	open vins stereo	0.662 / 0.055	1.720 / 0.057	2.636 / 0.060	1.130 / 0.072	1.278 / 0.052	1.098 / 0.104	1.421 / 0.067	7/7	Imported
Kimera-VIO	Mono IMU	KimeraMono	2.250 / 0.679	2.918 / 0.139	2.770 / 0.162	2.419 / 0.165	3.247 / 0.205	3.245 / 0.716	2.807 / 0.344	7/7	Imported
Kimera-VIO	Stereo IMU	Kimera	1.849 / 0.059	TBD	3.325 / 0.150	2.090 / 0.086	1.958 / 0.148	TBD	2.305 / 0.111	5/7	Partial
OKVIS2-X	Stereo IMU	OKVIS2X	0.518 / 0.017	1.929 / 0.053	2.511 / 0.046	1.021 / 0.039	0.863 / 0.057	1.612 / 0.748	1.409 / 0.160	7/7	Imported

Vicon RoomRPE16 rows, 90 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
ROVIO	Mono IMU	rovio	1.518 / 0.177	2.227 / 0.247	2.808 / 0.307	3.413 / 0.357	3.906 / 0.368	4.264 / 0.404	6/6	Imported
SVO Pro	Mono IMU	svo mono	1.163 / 0.102	1.412 / 0.122	1.668 / 0.132	1.881 / 0.132	2.042 / 0.138	2.247 / 0.151	6/6	Imported
SVO Pro	Stereo IMU	svo stereo	1.288 / 0.088	1.603 / 0.119	1.746 / 0.138	2.041 / 0.156	2.125 / 0.165	2.438 / 0.181	6/6	Imported
VINS-Fusion	Mono IMU	V-Fusion Mono	9.598 / 1067.197	13.675 / 2220.850	17.805 / 3421.204	24.493 / 4789.413	30.839 / 5919.943	36.574 / 7273.607	6/6	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	1.611 / 0.123	2.043 / 0.163	2.507 / 0.202	2.922 / 0.232	3.037 / 0.267	3.920 / 0.307	6/6	Imported
sqrtVINS	Mono IMU	sqrtVINs Mono	0.853 / 0.081	1.037 / 0.097	1.134 / 0.097	1.287 / 0.106	1.336 / 0.105	1.556 / 0.111	6/6	Imported
sqrtVINS	Stereo IMU	sqrtVINs Stereo	0.892 / 0.077	1.113 / 0.096	1.195 / 0.098	1.290 / 0.103	1.324 / 0.107	1.487 / 0.110	6/6	Imported
ORB-SLAM3	Mono IMU	mono vio orb slam3	0.772 / 0.087	0.811 / 0.098	0.863 / 0.096	0.970 / 0.108	0.970 / 0.113	1.103 / 0.128	6/6	Imported
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	0.776 / 0.083	0.852 / 0.096	0.879 / 0.098	0.983 / 0.107	1.025 / 0.124	1.195 / 0.138	6/6	Imported
BASALT	Stereo IMU	stereo basalt	TBD	TBD	TBD	TBD	TBD	TBD	0/6	TBD
OpenVINS	Binocular IMU	open vins binocular	0.772 / 0.085	0.868 / 0.102	0.939 / 0.109	0.987 / 0.120	1.023 / 0.119	1.189 / 0.125	6/6	Imported
OpenVINS	Mono IMU	open vins mono	0.776 / 0.091	0.942 / 0.115	1.061 / 0.124	1.123 / 0.126	1.115 / 0.119	1.223 / 0.130	6/6	Imported
OpenVINS	Stereo IMU	open vins stereo	0.809 / 0.077	0.968 / 0.096	1.051 / 0.102	1.127 / 0.107	1.272 / 0.115	1.445 / 0.123	6/6	Imported
Kimera-VIO	Mono IMU	KimeraMono	0.966 / 0.210	1.332 / 0.289	1.647 / 0.408	1.907 / 0.475	2.169 / 0.624	2.637 / 0.695	6/6	Imported
Kimera-VIO	Stereo IMU	Kimera	0.906 / 0.081	1.153 / 0.108	1.354 / 0.136	1.471 / 0.162	1.649 / 0.183	1.828 / 0.220	6/6	Imported
OKVIS2-X	Stereo IMU	OKVIS2X	0.661 / 0.092	0.717 / 0.139	0.742 / 0.189	0.785 / 0.231	0.759 / 0.316	0.782 / 0.346	6/6	Imported

Machine HallATE16 rows, 91 numeric cells

System	Mode	Source row	MH 01 easy	MH 02 easy	MH 03 medium	MH 04 difficult	MH 05 difficult	Average	Coverage	Status
ROVIO	Mono IMU	rovio	2.067 / 0.262	1.171 / 0.393	3.021 / 0.527	1.996 / 0.363	2.378 / 0.860	2.127 / 0.481	6/6	Imported
SVO Pro	Stereo IMU	svo stereo	1.335 / 0.150	0.703 / 0.077	1.686 / 0.174	1.499 / 0.159	1.160 / 0.175	1.277 / 0.147	6/6	Imported
DM-VIO	Mono IMU	dm vio	1.0130 / 0.0646	0.3936 / 0.0487	1.2183 / 0.1095	1.3779 / 0.1179	0.5445 / 0.0965	TBD	5/6	Partial
VINS-Fusion	Mono IMU	V-Fusion Mono	2.475 / 0.187	1.386 / 0.089	1.823 / 0.128	1.316 / 0.218	4.306 / 0.355	2.261 / 0.196	6/6	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	1.620 / 0.257	1.695 / 0.230	1.370 / 0.328	2.130 / 0.416	1.557 / 0.314	1.674 / 0.309	6/6	Imported
sqrtVINS	Mono IMU	sqrtVINs Mono	1.457 / 0.090	1.051 / 0.231	1.490 / 0.283	1.269 / 0.402	0.880 / 0.248	1.229 / 0.251	6/6	Imported
sqrtVINS	Stereo IMU	sqrtVINs Stereo	1.522 / 0.111	1.136 / 0.121	3.396 / 0.391	1.283 / 0.272	0.890 / 0.383	1.646 / 0.255	6/6	Imported
ORB-SLAM3	Mono IMU	mono vio orb slam3	1.309 / 0.075	0.696 / 0.078	5.418 / 0.368	0.978 / 0.156	10.391 / 1.222	3.758 / 0.380	6/6	Imported
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	1.310 / 0.041	2.682 / 0.172	4.734 / 0.060	4.634 / 0.072	7.035 / 0.135	4.079 / 0.096	6/6	Imported
BASALT	Stereo IMU	stereo basalt	1.235 / 0.080	0.527 / 0.059	1.213 / 0.067	0.995 / 0.115	0.542 / 0.120	0.902 / 0.088	6/6	Imported
OpenVINS	Binocular IMU	open vins binocular	1.364 / 0.082	0.990 / 0.210	1.225 / 0.136	1.111 / 0.310	0.849 / 0.461	1.108 / 0.240	6/6	Imported
OpenVINS	Mono IMU	open vins mono	2.317 / 0.099	0.976 / 0.145	1.560 / 0.150	0.878 / 0.191	0.929 / 0.514	1.332 / 0.220	6/6	Imported
OpenVINS	Stereo IMU	open vins stereo	1.470 / 0.091	1.036 / 0.132	1.008 / 0.139	0.967 / 0.168	0.855 / 0.253	1.067 / 0.157	6/6	Imported
Kimera-VIO	Mono IMU	KimeraMono	TBD	TBD	2.419 / 0.431	2.815 / 0.939	TBD	2.617 / 0.685	3/6	Partial
Kimera-VIO	Stereo IMU	Kimera	TBD	3.007 / 0.192	2.460 / 0.143	2.720 / 0.397	2.150 / 0.275	2.584 / 0.252	5/6	Partial
OKVIS2-X	Stereo IMU	OKVIS2X	1.214 / 0.091	0.665 / 0.055	1.194 / 0.264	0.886 / 0.176	1.073 / 0.336	1.007 / 0.184	6/6	Imported

Machine HallRPE15 rows, 84 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
ROVIO	Mono IMU	rovio	1.059 / 0.333	1.466 / 0.468	1.880 / 0.567	2.148 / 0.691	2.711 / 0.741	2.938 / 0.859	6/6	Imported
SVO Pro	Stereo IMU	svo stereo	0.584 / 0.123	0.827 / 0.181	1.096 / 0.202	1.239 / 0.217	1.221 / 0.240	1.340 / 0.250	6/6	Imported
VINS-Fusion	Mono IMU	V-Fusion Mono	1.009 / 0.189	1.413 / 0.322	1.629 / 0.389	1.841 / 0.406	2.122 / 0.394	2.401 / 0.452	6/6	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	0.982 / 0.245	1.218 / 0.373	1.432 / 0.428	1.663 / 0.425	1.908 / 0.435	2.087 / 0.524	6/6	Imported
sqrtVINS	Mono IMU	sqrtVINs Mono	0.640 / 0.214	0.909 / 0.279	1.120 / 0.323	1.225 / 0.347	1.332 / 0.360	1.445 / 0.386	6/6	Imported
sqrtVINS	Stereo IMU	sqrtVINs Stereo	0.666 / 0.223	0.989 / 0.300	1.242 / 0.332	1.475 / 0.368	1.533 / 0.370	1.576 / 0.407	6/6	Imported
ORB-SLAM3	Mono IMU	mono vio orb slam3	0.774 / 0.159	1.290 / 0.274	1.549 / 0.321	1.774 / 0.340	2.160 / 0.431	2.598 / 0.493	6/6	Imported
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	0.902 / 0.145	1.196 / 0.213	1.433 / 0.255	1.643 / 0.229	1.937 / 0.234	2.213 / 0.329	6/6	Imported
BASALT	Stereo IMU	stereo basalt	TBD	TBD	TBD	TBD	TBD	TBD	0/6	TBD
OpenVINS	Binocular IMU	open vins binocular	0.599 / 0.164	0.833 / 0.211	1.006 / 0.248	1.171 / 0.297	1.377 / 0.355	1.528 / 0.412	6/6	Imported
OpenVINS	Mono IMU	open vins mono	0.706 / 0.165	1.034 / 0.209	1.201 / 0.257	1.380 / 0.311	1.618 / 0.371	1.747 / 0.428	6/6	Imported
OpenVINS	Stereo IMU	open vins stereo	0.584 / 0.136	0.847 / 0.177	0.991 / 0.210	1.131 / 0.231	1.307 / 0.260	1.496 / 0.279	6/6	Imported
Kimera-VIO	Mono IMU	KimeraMono	0.268 / 0.331	0.445 / 0.511	0.630 / 0.675	0.825 / 0.711	1.047 / 0.813	1.286 / 0.804	6/6	Imported
Kimera-VIO	Stereo IMU	Kimera	0.340 / 0.135	0.502 / 0.183	0.654 / 0.221	0.782 / 0.257	0.922 / 0.282	1.031 / 0.306	6/6	Imported
OKVIS2-X	Stereo IMU	OKVIS2X	0.473 / 0.123	0.596 / 0.180	0.748 / 0.196	0.786 / 0.203	0.940 / 0.238	1.112 / 0.283	6/6	Imported

Primary benchmark

UZH-FPV

Tables: 8
Numeric: 604
TBD: 24

IndoorATE16 rows, 103 numeric cells

System	Mode	Source row	indoor forward 10	indoor forward 3	indoor forward 5	indoor forward 6	indoor forward 7	indoor forward 9	Average	Coverage	Status
ROVIO	Mono IMU	rovio	2.871 / 0.363	3.941 / 0.649	2.283 / 0.530	2.075 / 0.453	8.107 / 1.277	1.794 / 0.393	3.512 / 0.611	7/7	Imported
SVO Pro	Mono IMU	svo mono	1.107 / 0.353	0.585 / 0.138	0.591 / 0.116	0.982 / 0.285	2.625 / 0.319	0.709 / 0.243	1.100 / 0.242	7/7	Imported
SVO Pro	Stereo IMU	svo stereo	3.697 / 1.759	1.444 / 0.332	1.474 / 1.581	1.692 / 0.788	2.340 / 0.635	3.174 / 1.819	2.303 / 1.152	7/7	Imported
VINS-Fusion	Mono IMU	V-Fusion Mono	1.735 / 0.412	4.779 / 0.682	1.522 / 0.245	62.255 / 87.405	5.962 / 0.588	18.020 / 2.045	15.712 / 15.230	7/7	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	4.869 / 0.861	4.031 / 0.974	4.951 / 1.518	4.808 / 0.457	5.791 / 0.684	15.705 / 5.577	6.692 / 1.679	7/7	Imported
sqrtVINS	Mono IMU	sqrtVINs Mono	0.915 / 0.211	2.555 / 0.404	0.700 / 0.171	1.768 / 0.327	6.079 / 0.496	1.126 / 0.204	2.191 / 0.302	7/7	Imported
sqrtVINS	Stereo IMU	sqrtVINs Stereo	0.937 / 0.210	2.566 / 0.405	0.689 / 0.172	1.775 / 0.330	6.074 / 0.492	1.184 / 0.223	2.204 / 0.305	7/7	Imported
ORB-SLAM3	Mono IMU	mono vio orb slam3	1.570 / 0.580	TBD	1.220 / 0.613	0.829 / 0.125	1.128 / 0.079	0.933 / 0.233	1.136 / 0.326	6/7	Partial
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	0.851 / 0.975	TBD	1.154 / 1.255	0.741 / 0.312	0.893 / 0.442	1.396 / 0.521	1.007 / 0.701	6/7	Partial
BASALT	Stereo IMU	stereo basalt	2.443 / 1.128	TBD	3.304 / 0.427	3.335 / 0.455	TBD	2.174 / 1.243	2.814 / 0.813	5/7	Partial
Kimera-VIO	Stereo IMU	Kimera	8.958 / 3.272	6.427 / 1.538	3.455 / 1.429	6.563 / 2.826	14.212 / 2.019	7.929 / 2.728	7.924 / 2.302	7/7	Imported
OKVIS2-X	Stereo IMU	OKVIS2X	18.923 / 7.302	4.118 / 1.174	2.509 / 2.272	4.345 / 3.571	16.468 / 1.192	9.459 / 4.040	9.304 / 3.259	7/7	Imported
OpenVINS	Binocular IMU	open vins binocular	0.885 / 0.201	2.417 / 0.340	0.609 / 0.119	1.698 / 0.219	5.338 / 0.367	1.124 / 0.347	2.011 / 0.266	7/7	Imported
OpenVINS	Mono IMU	open vins mono	0.870 / 0.188	2.533 / 0.356	0.619 / 0.104	1.708 / 0.222	5.388 / 0.377	1.175 / 0.384	2.049 / 0.272	7/7	Imported
OpenVINS	Stereo IMU	open vins stereo	0.978 / 0.220	2.580 / 0.357	0.627 / 0.147	1.697 / 0.194	5.328 / 0.364	0.994 / 0.264	2.034 / 0.258	7/7	Imported
DM-VIO	Mono IMU	dm vio	2.790 / 6.241	8.090 / 1.468	TBD	TBD	TBD	TBD	TBD	2/7	Partial

IndoorRPE15 rows, 90 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
ROVIO	Mono IMU	rovio	1.430 / 0.300	1.813 / 0.508	2.153 / 0.644	2.450 / 0.670	2.835 / 0.660	3.126 / 0.682	6/6	Imported
SVO Pro	Mono IMU	svo mono	0.658 / 0.135	0.790 / 0.181	0.904 / 0.206	0.967 / 0.215	0.960 / 0.232	0.860 / 0.232	6/6	Imported
SVO Pro	Stereo IMU	svo stereo	1.258 / 0.899	1.662 / 1.285	2.068 / 1.509	2.221 / 1.392	2.126 / 1.091	2.089 / 0.746	6/6	Imported
VINS-Fusion	Mono IMU	V-Fusion Mono	2.235 / 0.863	2.926 / 1.540	3.422 / 2.240	3.554 / 2.835	3.444 / 3.490	3.294 / 4.271	6/6	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	1.958 / 0.495	2.721 / 0.839	3.095 / 1.171	2.917 / 1.317	2.976 / 1.423	3.050 / 1.483	6/6	Imported
sqrtVINS	Mono IMU	sqrtVINs Mono	1.407 / 0.159	1.703 / 0.239	1.925 / 0.306	2.102 / 0.321	2.176 / 0.331	2.271 / 0.348	6/6	Imported
sqrtVINS	Stereo IMU	sqrtVINs Stereo	1.405 / 0.162	1.714 / 0.244	1.936 / 0.308	2.111 / 0.317	2.187 / 0.324	2.284 / 0.351	6/6	Imported
ORB-SLAM3	Mono IMU	mono vio orb slam3	0.807 / 0.241	0.929 / 0.331	0.981 / 0.350	1.007 / 0.306	1.032 / 0.268	0.947 / 0.272	6/6	Imported
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	0.879 / 0.495	0.920 / 0.726	1.020 / 0.839	0.977 / 0.806	1.031 / 0.673	0.882 / 0.484	6/6	Imported
BASALT	Stereo IMU	stereo basalt	1.684 / 0.905	1.993 / 1.346	2.252 / 1.562	2.180 / 1.594	2.273 / 1.242	1.768 / 0.637	6/6	Imported
Kimera-VIO	Stereo IMU	Kimera	2.042 / 0.871	2.982 / 1.409	3.728 / 1.846	4.452 / 2.097	5.076 / 1.984	5.381 / 1.996	6/6	Imported
OKVIS2-X	Stereo IMU	OKVIS2X	2.799 / 1.212	4.498 / 2.080	5.703 / 2.647	6.294 / 2.701	6.406 / 2.452	6.596 / 2.623	6/6	Imported
OpenVINS	Binocular IMU	open vins binocular	1.371 / 0.138	1.642 / 0.216	1.833 / 0.284	1.992 / 0.304	2.048 / 0.310	2.159 / 0.314	6/6	Imported
OpenVINS	Mono IMU	open vins mono	1.368 / 0.146	1.623 / 0.224	1.826 / 0.290	1.993 / 0.315	2.065 / 0.321	2.184 / 0.328	6/6	Imported
OpenVINS	Stereo IMU	open vins stereo	1.366 / 0.140	1.620 / 0.218	1.815 / 0.280	1.970 / 0.299	2.038 / 0.298	2.152 / 0.304	6/6	Imported

Indoor45ATE15 rows, 82 numeric cells

System	Mode	Source row	indoor 45 12	indoor 45 13	indoor 45 14	indoor 45 2	indoor 45 4	Average	Coverage	Status
ROVIO	Mono IMU	rovio	2.458 / 9.164	2.377 / 0.340	3.127 / 0.533	2.872 / 0.526	1.852 / 0.453	2.537 / 2.203	6/6	Imported
SVO Pro	Mono IMU	svo mono	2.034 / 0.271	4.748 / 2.627	6.923 / 2.922	3.992 / 0.661	2.594 / 0.370	4.058 / 1.370	6/6	Imported
SVO Pro	Stereo IMU	svo stereo	2.099 / 0.942	2.330 / 0.845	2.429 / 1.409	2.747 / 0.559	2.066 / 0.517	2.334 / 0.854	6/6	Imported
VINS-Fusion	Mono IMU	V-Fusion Mono	1.624 / 0.735	2.161 / 0.460	4.138 / 0.437	26.024 / 16.972	135.760 / 5762.261	33.941 / 1156.173	6/6	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	14.825 / 14.003	2.190 / 0.840	4.406 / 0.418	2.976 / 1.207	2.334 / 1.042	5.346 / 3.502	6/6	Imported
sqrtVINS	Mono IMU	sqrtVINs Mono	0.810 / 0.212	0.920 / 0.286	1.495 / 0.234	0.934 / 0.343	0.626 / 0.290	0.957 / 0.273	6/6	Imported
sqrtVINS	Stereo IMU	sqrtVINs Stereo	0.762 / 0.196	0.951 / 0.242	1.511 / 0.269	0.920 / 0.263	0.639 / 0.273	0.957 / 0.249	6/6	Imported
ORB-SLAM3	Mono IMU	mono vio orb slam3	5.341 / 1.258	TBD	TBD	TBD	TBD	5.341 / 1.258	2/6	Partial
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	1.982 / 1.174	58.498 / 4.228	TBD	69.812 / 7.200	1.410 / 0.464	32.925 / 3.266	5/6	Partial
Kimera-VIO	Stereo IMU	Kimera	4.282 / 1.375	5.989 / 2.533	4.160 / 5.778	3.978 / 1.024	6.523 / 0.851	4.986 / 2.312	6/6	Imported
OKVIS2-X	Stereo IMU	OKVIS2X	3.198 / 3.181	119.671 / 48.344	14.242 / 5.709	3.310 / 1.983	2.860 / 2.530	28.656 / 12.349	6/6	Imported
OpenVINS	Binocular IMU	open vins binocular	0.868 / 0.256	1.137 / 0.277	1.455 / 0.284	0.918 / 0.293	0.607 / 0.298	0.997 / 0.282	6/6	Imported
OpenVINS	Mono IMU	open vins mono	0.910 / 0.263	0.966 / 0.304	1.510 / 0.241	0.934 / 0.266	0.604 / 0.292	0.985 / 0.273	6/6	Imported
OpenVINS	Stereo IMU	open vins stereo	0.750 / 0.222	0.867 / 0.196	1.457 / 0.227	0.907 / 0.317	0.616 / 0.308	0.919 / 0.254	6/6	Imported
BASALT	Stereo IMU	stereo basalt	1.362 / 1.822	TBD	TBD	TBD	1.861 / 1.014	1.611 / 1.418	3/6	Partial

Indoor45RPE15 rows, 87 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
ROVIO	Mono IMU	rovio	1.093 / 0.666	1.383 / 1.109	1.518 / 1.550	1.756 / 1.777	1.899 / 1.826	2.044 / 2.074	6/6	Imported
SVO Pro	Mono IMU	svo mono	1.419 / 0.206	1.834 / 0.312	2.244 / 0.478	2.488 / 0.580	2.764 / 0.580	3.086 / 0.549	6/6	Imported
SVO Pro	Stereo IMU	svo stereo	1.416 / 0.575	1.827 / 0.952	2.203 / 1.213	2.292 / 1.125	2.211 / 0.803	2.145 / 0.452	6/6	Imported
VINS-Fusion	Mono IMU	V-Fusion Mono	1.704 / 1.223	2.228 / 2.352	2.573 / 3.513	3.017 / 4.709	3.245 / 5.671	3.472 / 6.736	6/6	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	1.932 / 0.761	2.263 / 1.261	2.544 / 1.699	2.178 / 1.952	2.177 / 2.194	2.286 / 2.618	6/6	Imported
sqrtVINS	Mono IMU	sqrtVINs Mono	0.916 / 0.135	1.000 / 0.234	0.996 / 0.303	1.101 / 0.305	1.027 / 0.278	0.885 / 0.276	6/6	Imported
sqrtVINS	Stereo IMU	sqrtVINs Stereo	0.919 / 0.134	1.010 / 0.230	0.995 / 0.298	1.095 / 0.297	1.023 / 0.260	0.877 / 0.251	6/6	Imported
ORB-SLAM3	Mono IMU	mono vio orb slam3	1.357 / 0.529	2.898 / 0.779	5.520 / 1.161	8.212 / 1.586	10.031 / 2.281	10.285 / 2.176	6/6	Imported
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	1.326 / 0.769	9.501 / 1.384	13.427 / 2.002	14.613 / 2.379	15.920 / 2.100	17.054 / 1.882	6/6	Imported
Kimera-VIO	Stereo IMU	Kimera	1.676 / 0.880	2.216 / 1.502	2.752 / 1.931	3.200 / 1.942	3.348 / 1.788	3.543 / 1.819	6/6	Imported
OKVIS2-X	Stereo IMU	OKVIS2X	4.290 / 3.934	5.546 / 6.573	6.314 / 8.445	6.626 / 10.004	6.907 / 11.013	6.561 / 11.444	6/6	Imported
OpenVINS	Binocular IMU	open vins binocular	0.912 / 0.144	0.998 / 0.240	1.000 / 0.309	1.106 / 0.311	1.050 / 0.289	0.922 / 0.292	6/6	Imported
OpenVINS	Mono IMU	open vins mono	0.912 / 0.142	1.001 / 0.244	0.990 / 0.312	1.091 / 0.311	1.040 / 0.287	0.904 / 0.287	6/6	Imported
OpenVINS	Stereo IMU	open vins stereo	0.917 / 0.133	1.011 / 0.231	0.990 / 0.302	1.087 / 0.302	0.995 / 0.267	0.826 / 0.261	6/6	Imported
BASALT	Stereo IMU	stereo basalt	1.048 / 1.817	TBD	TBD	TBD	1.324 / 0.961	1.186 / 1.389	3/6	Partial

OutdoorATE15 rows, 56 numeric cells

System	Mode	Source row	outdoor forward 1 snapdragon	outdoor forward 3 snapdragon	outdoor forward 5 snapdragon	Average	Coverage	Status
ROVIO	Mono IMU	rovio	2.519 / 0.754	1.602 / 0.755	1.852 / 0.891	1.991 / 0.800	4/4	Imported
SVO Pro	Mono IMU	svo mono	1.074 / 0.498	2.231 / 0.672	0.976 / 0.496	1.427 / 0.555	4/4	Imported
SVO Pro	Stereo IMU	svo stereo	1.048 / 1.363	3.538 / 1.910	0.828 / 1.550	1.805 / 1.608	4/4	Imported
VINS-Fusion	Mono IMU	V-Fusion Mono	1.769 / 2.433	2.271 / 1.338	147.737 / 1331.042	50.592 / 444.938	4/4	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	4.162 / 3.384	5.538 / 2.114	3.344 / 2.239	4.348 / 2.579	4/4	Imported
sqrtVINS	Mono IMU	sqrtVINs Mono	1.409 / 0.503	3.492 / 1.291	0.754 / 0.293	1.885 / 0.695	4/4	Imported
sqrtVINS	Stereo IMU	sqrtVINs Stereo	1.875 / 0.588	3.593 / 1.159	0.818 / 0.325	2.095 / 0.691	4/4	Imported
ORB-SLAM3	Mono IMU	mono vio orb slam3	TBD	4.000 / 8.179	3.301 / 5.202	3.650 / 6.690	3/4	Partial
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	1.318 / 0.717	2.900 / 2.034	1.732 / 1.374	1.983 / 1.375	4/4	Imported
Kimera-VIO	Stereo IMU	Kimera	TBD	5.513 / 3.443	1.049 / 3.538	3.281 / 3.490	3/4	Partial
OKVIS2-X	Stereo IMU	OKVIS2X	3.884 / 4.047	3.563 / 7.953	3.032 / 2.575	3.493 / 4.858	4/4	Imported
OpenVINS	Binocular IMU	open vins binocular	1.515 / 0.576	3.780 / 1.145	0.755 / 0.227	2.017 / 0.649	4/4	Imported
OpenVINS	Mono IMU	open vins mono	1.376 / 0.550	3.492 / 1.087	0.749 / 0.228	1.872 / 0.622	4/4	Imported
OpenVINS	Stereo IMU	open vins stereo	1.523 / 0.646	3.475 / 1.106	0.753 / 0.240	1.917 / 0.664	4/4	Imported
BASALT	Stereo IMU	stereo basalt	1.131 / 1.432	TBD	TBD	1.131 / 1.432	2/4	Partial

OutdoorRPE15 rows, 90 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
ROVIO	Mono IMU	rovio	0.623 / 0.325	0.930 / 0.532	1.159 / 0.700	1.336 / 0.804	1.492 / 0.873	1.590 / 0.911	6/6	Imported
SVO Pro	Mono IMU	svo mono	0.343 / 0.232	0.457 / 0.364	0.530 / 0.451	0.605 / 0.516	0.651 / 0.544	0.702 / 0.543	6/6	Imported
SVO Pro	Stereo IMU	svo stereo	0.540 / 0.562	0.772 / 0.993	0.949 / 1.310	1.077 / 1.497	1.192 / 1.573	1.261 / 1.604	6/6	Imported
VINS-Fusion	Mono IMU	V-Fusion Mono	0.631 / 0.416	0.896 / 0.720	1.078 / 0.980	1.228 / 1.375	1.349 / 1.575	1.449 / 1.911	6/6	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	1.039 / 0.479	1.530 / 0.846	1.895 / 1.145	2.178 / 1.376	2.475 / 1.554	2.536 / 1.692	6/6	Imported
sqrtVINS	Mono IMU	sqrtVINs Mono	0.626 / 0.233	0.920 / 0.384	1.114 / 0.508	1.308 / 0.604	1.480 / 0.683	1.608 / 0.730	6/6	Imported
sqrtVINS	Stereo IMU	sqrtVINs Stereo	0.431 / 0.180	0.658 / 0.279	0.853 / 0.362	0.981 / 0.412	1.106 / 0.453	1.218 / 0.496	6/6	Imported
ORB-SLAM3	Mono IMU	mono vio orb slam3	0.501 / 0.909	0.795 / 1.765	0.959 / 2.482	1.068 / 3.110	1.142 / 3.565	1.205 / 3.894	6/6	Imported
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	0.686 / 0.614	0.907 / 1.019	1.088 / 1.321	1.265 / 1.495	1.268 / 1.580	1.290 / 1.596	6/6	Imported
Kimera-VIO	Stereo IMU	Kimera	0.966 / 0.694	1.534 / 1.340	1.938 / 1.815	2.357 / 2.269	2.581 / 2.627	2.759 / 2.869	6/6	Imported
OKVIS2-X	Stereo IMU	OKVIS2X	1.315 / 1.067	1.960 / 1.614	2.474 / 1.965	2.816 / 2.751	3.174 / 3.053	3.206 / 3.492	6/6	Imported
OpenVINS	Binocular IMU	open vins binocular	0.429 / 0.176	0.644 / 0.279	0.822 / 0.359	0.944 / 0.431	1.056 / 0.475	1.159 / 0.516	6/6	Imported
OpenVINS	Mono IMU	open vins mono	0.419 / 0.171	0.621 / 0.263	0.791 / 0.335	0.916 / 0.402	1.033 / 0.457	1.133 / 0.510	6/6	Imported
OpenVINS	Stereo IMU	open vins stereo	0.422 / 0.175	0.634 / 0.273	0.810 / 0.355	0.926 / 0.422	1.042 / 0.469	1.146 / 0.516	6/6	Imported
BASALT	Stereo IMU	stereo basalt	0.340 / 0.760	0.484 / 1.481	0.621 / 2.065	0.748 / 2.472	0.868 / 2.642	0.991 / 2.663	6/6	Imported

Outdoor45ATE12 rows, 24 numeric cells

System	Mode	Source row	outdoor 45 1 snapdragon	Average	Coverage	Status
ROVIO	Mono IMU	rovio	2.456 / 0.548	2.456 / 0.548	2/2	Imported
SVO Pro	Mono IMU	svo mono	6.565 / 3.817	6.565 / 3.817	2/2	Imported
SVO Pro	Stereo IMU	svo stereo	1.508 / 0.308	1.508 / 0.308	2/2	Imported
VINS-Fusion	Mono IMU	V-Fusion Mono	14.724 / 4.470	14.724 / 4.470	2/2	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	3.246 / 0.555	3.246 / 0.555	2/2	Imported
sqrtVINS	Mono IMU	sqrtVINs Mono	1.202 / 0.432	1.202 / 0.432	2/2	Imported
sqrtVINS	Stereo IMU	sqrtVINs Stereo	1.175 / 0.443	1.175 / 0.443	2/2	Imported
Kimera-VIO	Stereo IMU	Kimera	2.219 / 0.725	2.219 / 0.725	2/2	Imported
OKVIS2-X	Stereo IMU	OKVIS2X	8.134 / 9.260	8.134 / 9.260	2/2	Imported
OpenVINS	Binocular IMU	open vins binocular	1.098 / 0.425	1.098 / 0.425	2/2	Imported
OpenVINS	Mono IMU	open vins mono	1.151 / 0.420	1.151 / 0.420	2/2	Imported
OpenVINS	Stereo IMU	open vins stereo	1.145 / 0.427	1.145 / 0.427	2/2	Imported

Outdoor45RPE12 rows, 72 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
ROVIO	Mono IMU	rovio	1.035 / 0.224	1.486 / 0.361	1.729 / 0.522	2.138 / 0.723	2.354 / 0.944	2.561 / 1.172	6/6	Imported
SVO Pro	Mono IMU	svo mono	3.555 / 0.595	5.551 / 0.954	4.284 / 1.031	5.144 / 1.149	3.050 / 0.649	21.420 / 0.711	6/6	Imported
SVO Pro	Stereo IMU	svo stereo	1.128 / 0.250	1.539 / 0.427	1.741 / 0.537	1.769 / 0.507	1.735 / 0.465	1.634 / 0.422	6/6	Imported
VINS-Fusion	Mono IMU	V-Fusion Mono	1.414 / 1.023	1.688 / 1.885	2.553 / 2.715	2.605 / 3.670	3.006 / 4.678	3.096 / 5.613	6/6	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	1.014 / 0.240	0.952 / 0.418	1.196 / 0.580	1.235 / 0.742	1.241 / 0.920	1.351 / 1.027	6/6	Imported
sqrtVINS	Mono IMU	sqrtVINs Mono	0.824 / 0.268	1.149 / 0.433	1.343 / 0.534	1.709 / 0.581	1.891 / 0.577	1.858 / 0.537	6/6	Imported
sqrtVINS	Stereo IMU	sqrtVINs Stereo	0.816 / 0.274	1.128 / 0.444	1.319 / 0.543	1.679 / 0.594	1.852 / 0.598	1.823 / 0.561	6/6	Imported
Kimera-VIO	Stereo IMU	Kimera	1.413 / 0.309	1.845 / 0.540	2.111 / 0.714	2.499 / 0.700	2.238 / 0.712	2.520 / 0.786	6/6	Imported
OKVIS2-X	Stereo IMU	OKVIS2X	1.735 / 1.537	2.140 / 4.506	2.648 / 6.571	3.140 / 9.911	3.806 / 11.746	2.868 / 15.063	6/6	Imported
OpenVINS	Binocular IMU	open vins binocular	0.813 / 0.252	1.118 / 0.407	1.332 / 0.505	1.699 / 0.544	1.876 / 0.527	1.841 / 0.506	6/6	Imported
OpenVINS	Mono IMU	open vins mono	0.849 / 0.276	1.162 / 0.433	1.399 / 0.532	1.799 / 0.578	1.967 / 0.554	1.937 / 0.517	6/6	Imported
OpenVINS	Stereo IMU	open vins stereo	0.799 / 0.265	1.114 / 0.421	1.355 / 0.523	1.669 / 0.574	1.864 / 0.565	1.844 / 0.525	6/6	Imported

Primary benchmark

LaMAria

Tables: 10
Numeric: 388
TBD: 13

EasyATE8 rows, 29 numeric cells

System	Mode	Source row	R 01 easy	R 02 easy	R 03 easy	Average	Coverage	Status
ROVIO	Mono IMU	rovio	1.689 / 0.883	1.787 / 2.693	3.442 / 0.429	2.306 / 1.335	4/4	Imported
SVO Pro	Mono IMU	svo mono	1.811 / 0.330	1.481 / 0.863	1.480 / 0.401	1.591 / 0.532	4/4	Imported
VINS-Fusion	Mono IMU	V-Fusion Mono	128.220 / 1580.432	3.996 / 1.341	96.347 / 357.437	76.188 / 646.403	4/4	Imported
sqrtVINS	Mono IMU	sqrtVINs Mono	1.186 / 0.443	1.674 / 3.029	0.800 / 0.173	1.220 / 1.215	4/4	Imported
ORB-SLAM3	Mono IMU	mono vio orb slam3	0.777 / 0.085	10.514 / 2.408	1.248 / 0.344	4.180 / 0.946	4/4	Imported
OpenVINS	Mono IMU	open vins mono	1.276 / 0.427	1.958 / 1.994	1.505 / 0.169	1.580 / 0.864	4/4	Imported
OKVIS2-X	Stereo IMU	OKVIS2X	1.173 / 0.764	1.296 / 7.273	4.862 / 0.548	2.444 / 2.862	4/4	Imported
DM-VIO	Mono IMU	dm vio	0.485 / 36.41	TBD	TBD	TBD	1/4	Partial

EasyRPE7 rows, 42 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
ROVIO	Mono IMU	rovio	0.862 / 0.345	1.139 / 0.581	1.340 / 0.797	1.458 / 0.999	1.631 / 1.150	1.861 / 1.302	6/6	Imported
SVO Pro	Mono IMU	svo mono	0.655 / 0.168	0.787 / 0.288	0.864 / 0.397	0.978 / 0.497	1.101 / 0.594	1.227 / 0.683	6/6	Imported
VINS-Fusion	Mono IMU	V-Fusion Mono	11.538 / 111.770	16.582 / 214.496	21.865 / 312.795	27.590 / 407.168	32.019 / 491.437	33.865 / 574.565	6/6	Imported
sqrtVINS	Mono IMU	sqrtVINs Mono	0.650 / 0.257	0.872 / 0.495	1.045 / 0.723	1.127 / 0.929	1.211 / 1.119	1.270 / 1.289	6/6	Imported
ORB-SLAM3	Mono IMU	mono vio orb slam3	1.285 / 0.267	1.435 / 0.543	1.519 / 0.828	1.629 / 1.110	1.709 / 1.366	1.819 / 1.552	6/6	Imported
OpenVINS	Mono IMU	open vins mono	0.635 / 0.206	0.892 / 0.384	1.088 / 0.558	1.220 / 0.725	1.302 / 0.878	1.375 / 1.034	6/6	Imported
OKVIS2-X	Stereo IMU	OKVIS2X	0.513 / 0.683	0.777 / 1.293	0.979 / 1.889	1.199 / 2.499	1.399 / 3.100	1.581 / 3.623	6/6	Imported

MediumATE8 rows, 35 numeric cells

System	Mode	Source row	R 04 medium	R 05 medium	R 06 medium	R 07 medium	Average	Coverage	Status
ROVIO	Mono IMU	rovio	4.327 / 5.752	12.057 / 7.327	3.293 / 6.011	9.457 / 10.299	7.283 / 7.347	5/5	Imported
SVO Pro	Mono IMU	svo mono	2.265 / 1.851	4.628 / 4.443	3.856 / 8.702	3.251 / 9.217	3.500 / 6.053	5/5	Imported
VINS-Fusion	Mono IMU	V-Fusion Mono	3.481 / 5.370	99.147 / 49578.659	16.122 / 41.889	128.196 / 263978.892	61.737 / 78401.202	5/5	Imported
sqrtVINS	Mono IMU	sqrtVINs Mono	4.218 / 3.450	8.161 / 4.209	2.604 / 3.476	1.828 / 2.400	4.203 / 3.384	5/5	Imported
ORB-SLAM3	Mono IMU	mono vio orb slam3	4.070 / 15.496	121.829 / 27.653	TBD	1.599 / 6.394	42.499 / 16.514	4/5	Partial
OpenVINS	Mono IMU	open vins mono	3.974 / 3.719	7.033 / 3.824	1.514 / 0.999	3.514 / 4.956	4.009 / 3.374	5/5	Imported
OKVIS2-X	Stereo IMU	OKVIS2X	1.839 / 7.760	1.426 / 3.158	5.433 / 9.887	2.887 / 7.297	2.896 / 7.026	5/5	Imported
DM-VIO	Mono IMU	dm vio	31.75 / 31.63	TBD	TBD	TBD	TBD	1/5	Partial

MediumRPE7 rows, 42 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
ROVIO	Mono IMU	rovio	0.970 / 0.783	1.408 / 1.366	1.744 / 1.849	2.071 / 2.309	2.410 / 2.780	2.766 / 3.252	6/6	Imported
SVO Pro	Mono IMU	svo mono	1.017 / 0.656	1.268 / 1.150	1.453 / 1.671	1.610 / 2.202	1.726 / 2.733	1.838 / 3.260	6/6	Imported
VINS-Fusion	Mono IMU	V-Fusion Mono	20.765 / 4103.335	33.107 / 8156.637	44.305 / 12206.582	54.165 / 16262.836	60.146 / 20331.897	59.925 / 24424.003	6/6	Imported
sqrtVINS	Mono IMU	sqrtVINs Mono	0.639 / 0.252	0.940 / 0.443	1.196 / 0.647	1.425 / 0.860	1.645 / 1.087	1.855 / 1.320	6/6	Imported
ORB-SLAM3	Mono IMU	mono vio orb slam3	0.564 / 1.188	0.674 / 2.232	0.759 / 3.298	0.839 / 4.280	0.911 / 5.203	0.959 / 6.055	6/6	Imported
OpenVINS	Mono IMU	open vins mono	0.634 / 0.165	0.901 / 0.294	1.123 / 0.430	1.335 / 0.583	1.523 / 0.748	1.719 / 0.924	6/6	Imported
OKVIS2-X	Stereo IMU	OKVIS2X	0.516 / 0.877	0.726 / 1.630	0.915 / 2.360	1.087 / 3.081	1.242 / 3.784	1.377 / 4.455	6/6	Imported

HardATE7 rows, 28 numeric cells

System	Mode	Source row	R 08 hard	R 09 hard	R 10 hard	Average	Coverage	Status
ROVIO	Mono IMU	rovio	9.068 / 15.938	121.613 / 98637.226	9.274 / 33.606	46.652 / 32895.590	4/4	Imported
SVO Pro	Mono IMU	svo mono	10.088 / 38.293	5.564 / 37.752	70.105 / 24513.048	28.586 / 8196.364	4/4	Imported
VINS-Fusion	Mono IMU	V-Fusion Mono	8.442 / 15.811	8.849 / 10.971	13.008 / 31.982	10.100 / 19.588	4/4	Imported
sqrtVINS	Mono IMU	sqrtVINs Mono	5.863 / 7.205	8.957 / 6.826	8.291 / 15.311	7.704 / 9.781	4/4	Imported
ORB-SLAM3	Mono IMU	mono vio orb slam3	59.047 / 4327.487	82.511 / 2404.086	170.428 / 4.405	103.995 / 2245.326	4/4	Imported
OpenVINS	Mono IMU	open vins mono	9.582 / 13.183	6.755 / 5.068	5.219 / 9.660	7.185 / 9.304	4/4	Imported
OKVIS2-X	Stereo IMU	OKVIS2X	5.470 / 35.957	104.265 / 121742.638	2.567 / 97.799	37.434 / 40625.465	4/4	Imported

HardRPE7 rows, 42 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
ROVIO	Mono IMU	rovio	1.340 / 1182.453	2.052 / 2251.285	2.643 / 3273.283	3.229 / 4203.090	3.792 / 5162.044	4.344 / 5915.817	6/6	Imported
SVO Pro	Mono IMU	svo mono	2.907 / 294.839	3.827 / 525.814	4.585 / 744.505	5.322 / 960.934	5.947 / 1149.441	6.435 / 1362.462	6/6	Imported
VINS-Fusion	Mono IMU	V-Fusion Mono	0.998 / 0.663	1.405 / 1.213	1.756 / 1.700	2.094 / 2.166	2.432 / 2.639	2.731 / 3.140	6/6	Imported
sqrtVINS	Mono IMU	sqrtVINs Mono	0.648 / 0.335	0.911 / 0.545	1.126 / 0.756	1.334 / 0.955	1.522 / 1.159	1.694 / 1.369	6/6	Imported
ORB-SLAM3	Mono IMU	mono vio orb slam3	6.252 / 344.857	11.442 / 658.830	16.109 / 941.222	22.054 / 1221.480	26.966 / 1497.350	32.272 / 1790.106	6/6	Imported
OpenVINS	Mono IMU	open vins mono	0.650 / 0.245	0.930 / 0.420	1.163 / 0.607	1.396 / 0.803	1.612 / 0.997	1.824 / 1.207	6/6	Imported
OKVIS2-X	Stereo IMU	OKVIS2X	2.124 / 1508.158	3.380 / 2872.153	4.557 / 4182.467	5.683 / 5409.698	6.764 / 6666.716	7.788 / 7731.618	6/6	Imported

CPATE7 rows, 26 numeric cells

System	Mode	Source row	R 11 5cp	R 12 10cp	R 13 15cp	Average	Coverage	Status
ROVIO	Mono IMU	rovio	104.278 / 24.187	104.510 / 21.553	105.695 / 10.341	104.828 / 18.693	4/4	Imported
SVO Pro	Mono IMU	svo mono	105.088 / 21.828	112.946 / 1748.396	103.797 / 21.276	107.277 / 597.167	4/4	Imported
VINS-Fusion	Mono IMU	V-Fusion Mono	105.124 / 13.341	104.686 / 27.342	104.262 / 16.131	104.690 / 18.938	4/4	Imported
sqrtVINS	Mono IMU	sqrtVINs Mono	106.420 / 3.345	106.190 / 28.781	104.111 / 20.082	105.574 / 17.403	4/4	Imported
ORB-SLAM3	Mono IMU	mono vio orb slam3	146.912 / 1899.090	TBD	TBD	146.912 / 1899.090	2/4	Partial
OpenVINS	Mono IMU	open vins mono	106.547 / 2.966	106.638 / 33.093	104.776 / 14.359	105.987 / 16.806	4/4	Imported
OKVIS2-X	Stereo IMU	OKVIS2X	104.913 / 19.131	104.266 / 37.409	104.355 / 18.702	104.512 / 25.080	4/4	Imported

CPRPE7 rows, 42 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
ROVIO	Mono IMU	rovio	89.294 / 5.550	97.766 / 11.615	98.552 / 18.739	97.292 / 26.462	94.705 / 33.877	94.862 / 40.833	6/6	Imported
SVO Pro	Mono IMU	svo mono	89.755 / 67.873	97.660 / 172.245	98.668 / 393.964	97.469 / 389.038	95.092 / 224.430	94.759 / 198.217	6/6	Imported
VINS-Fusion	Mono IMU	V-Fusion Mono	97.946 / 4.334	101.235 / 10.964	98.262 / 19.562	98.786 / 27.964	97.092 / 36.010	96.267 / 43.671	6/6	Imported
sqrtVINS	Mono IMU	sqrtVINs Mono	89.251 / 5.013	97.615 / 11.068	98.413 / 18.382	97.076 / 26.350	94.384 / 34.113	94.444 / 41.383	6/6	Imported
ORB-SLAM3	Mono IMU	mono vio orb slam3	83.139 / 129.951	89.337 / 226.879	91.520 / 320.010	90.284 / 406.411	91.002 / 485.205	92.172 / 551.083	6/6	Imported
OpenVINS	Mono IMU	open vins mono	89.300 / 5.001	97.642 / 11.056	98.481 / 18.379	97.145 / 26.328	94.446 / 34.075	94.485 / 41.335	6/6	Imported
OKVIS2-X	Stereo IMU	OKVIS2X	89.144 / 5.299	97.487 / 11.766	98.297 / 19.643	97.014 / 28.264	94.334 / 36.622	94.402 / 44.489	6/6	Imported

Additional SequenceATE7 rows, 60 numeric cells

System	Mode	Source row	sequence 1 19	sequence 1 20	sequence 2 11	sequence 2 12	sequence 3 17	sequence 3 18	sequence 4 10	sequence 4 11	Average	Coverage	Status
ROVIO	Mono IMU	rovio	135.988 / 1172690.827	104.902 / 24.664	128.818 / 2276039.540	137.237 / 4595866.747	106.903 / 11.644	104.556 / 25.654	109.691 / 17.047	105.454 / 20.058	116.693 / 1005587.023	9/9	Imported
SVO Pro	Mono IMU	svo mono	105.107 / 11.722	129.697 / 93.353	101.102 / 2042.770	127.704 / 5682.792	105.135 / 33.994	108.926 / 31.365	95.560 / 156507.332	137.439 / 1325894.395	113.834 / 186287.215	9/9	Imported
VINS-Fusion	Mono IMU	V-Fusion Mono	130.688 / 1129539.932	105.418 / 10.800	103.789 / 35.172	99.369 / 480.971	127.135 / 3113751.901	132.694 / 3917552.996	137.850 / 2573252.047	106.680 / 35.529	117.953 / 1341832.418	9/9	Imported
sqrtVINS	Mono IMU	sqrtVINs Mono	106.435 / 6.827	105.768 / 11.734	106.658 / 9.043	103.813 / 22.972	106.776 / 26.732	112.210 / 35.615	101.115 / 39.112	105.423 / 4.363	106.025 / 19.550	9/9	Imported
ORB-SLAM3	Mono IMU	mono vio orb slam3	151.630 / 16291.409	150.969 / 7198.965	TBD	TBD	TBD	98.073 / 1581.890	84.154 / 2208.223	95.655 / 72.858	116.096 / 5470.669	6/9	Partial
OpenVINS	Mono IMU	open vins mono	105.350 / 2.782	105.135 / 5.047	106.356 / 10.327	104.405 / 22.840	105.466 / 22.852	110.493 / 32.694	137.129 / 1214735.619	131.956 / 1436432.891	113.286 / 331408.131	9/9	Imported
OKVIS2-X	Stereo IMU	OKVIS2X	104.143 / 31.983	104.926 / 20.007	104.619 / 4.864	107.096 / 14.043	106.132 / 17.518	105.574 / 16.532	134.216 / 661556419.208	139.557 / 7485162.610	113.283 / 83630210.846	9/9	Imported

Additional SequenceRPE7 rows, 42 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
ROVIO	Mono IMU	rovio	76.475 / 21877.594	86.058 / 40106.843	86.230 / 54673.232	85.860 / 68293.620	87.020 / 83186.196	87.837 / 98335.489	6/6	Imported
SVO Pro	Mono IMU	svo mono	79.926 / 9161.278	89.170 / 8661.908	88.898 / 8343.632	88.987 / 11732.422	89.822 / 9752.402	90.655 / 20457.301	6/6	Imported
VINS-Fusion	Mono IMU	V-Fusion Mono	91.152 / 33713.159	100.583 / 62005.022	102.284 / 86519.690	103.503 / 108880.042	104.850 / 132835.405	106.128 / 154262.606	6/6	Imported
sqrtVINS	Mono IMU	sqrtVINs Mono	76.227 / 6.072	85.778 / 12.871	85.078 / 20.643	84.020 / 28.363	84.260 / 35.641	84.350 / 42.456	6/6	Imported
ORB-SLAM3	Mono IMU	mono vio orb slam3	124.858 / 15769.166	124.895 / 7145.218	61.225 / 1567.916	47.451 / 2146.833	66.745 / 72.854	85.035 / 5340.397	6/6	Imported
OpenVINS	Mono IMU	open vins mono	76.126 / 7735.854	85.730 / 14796.570	85.161 / 21077.593	84.382 / 26837.454	84.881 / 32397.420	85.230 / 38116.169	6/6	Imported
OKVIS2-X	Stereo IMU	OKVIS2X	80.295 / 1746622.523	89.672 / 3317952.822	89.207 / 4679242.380	88.408 / 5921043.558	88.894 / 7136745.704	89.032 / 8463779.524	6/6	Imported

Primary benchmark

GrandTour

Tables: 14
Numeric: 671
TBD: 18

Group 1ATE13 rows, 72 numeric cells

System	Mode	Source row	2024-10-01-11-29-55	2024-10-01-12-00-49	2024-11-02-17-10-25	2024-11-02-17-43-10	2024-11-02-21-12-51	Average	Coverage	Status
ROVIO	Mono IMU	rovio	11.955 / 7.743	16.389 / 6.839	2.810 / 1.789	6.731 / 2.823	57.700 / 13.301	19.117 / 6.499	6/6	Imported
SVO Pro	Stereo IMU	svo stereo	1.178 / 0.878	29.193 / 36.668	1.260 / 0.183	2.356 / 0.739	20.327 / 3.982	10.863 / 8.490	6/6	Imported
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	5.497 / 2.093	13.523 / 277.681	TBD	TBD	TBD	9.510 / 139.887	3/6	Partial
ORB-SLAM3	Mono IMU	mono vio orb slam3	3.685 / 14.446	5.889 / 3.444	TBD	28.588 / 0.728	TBD	12.721 / 6.206	4/6	Partial
VINS-Fusion	Mono IMU	V-Fusion Mono	12.527 / 17.213	177.711 / 3735.402	126.926 / 6011.784	17.409 / 1.622	157.818 / 17269.177	98.478 / 5407.039	6/6	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	12.570 / 0.288	11.410 / 1.574	9.221 / 0.150	16.201 / 4.698	9.495 / 5.232	11.779 / 2.388	6/6	Imported
BASALT	Stereo IMU	stereo basalt	2.772 / 2.071	TBD	2.616 / 0.501	3.824 / 1.085	18.126 / 3.868	6.834 / 1.881	5/6	Partial
sqrtVINS	Mono IMU	sqrtVINs Mono	3.180 / 3.939	2.547 / 1.189	2.466 / 0.237	2.752 / 0.429	29.921 / 4.478	8.173 / 2.054	6/6	Imported
sqrtVINS	Stereo IMU	sqrtVINs Stereo	2.412 / 0.656	3.010 / 0.781	2.739 / 0.219	2.194 / 0.320	21.440 / 6.468	6.359 / 1.689	6/6	Imported
OpenVINS	Mono IMU	open vins mono	3.700 / 4.982	2.525 / 0.601	137.734 / 20339.023	7.229 / 1.748	29.843 / 6.190	36.206 / 4070.509	6/6	Imported
OpenVINS	Stereo IMU	open vins stereo	2.862 / 8.103	2.369 / 1.193	2.253 / 0.209	3.041 / 1.143	133.358 / 53068.821	28.777 / 10615.894	6/6	Imported
OpenVINS	Mono IMU	open vins mono #2	3.067 / 2.671	2.525 / 0.601	2.271 / 0.257	7.229 / 1.748	29.843 / 6.190	8.987 / 2.293	6/6	Imported
OpenVINS	Stereo IMU	open vins stereo #2	2.749 / 6.094	2.458 / 0.419	61.020 / 13928.124	3.041 / 1.143	133.358 / 53068.821	40.525 / 13400.920	6/6	Imported

Table 1: 2024-11-02-21-12-51 seems to have some issues with z-axis.

Group 1RPE4 rows, 24 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
VINS-Fusion	Mono IMU	V-Fusion Mono	1.401 / 2.997	2.196 / 5.802	2.115 / 8.679	2.248 / 11.186	2.352 / 14.148	2.596 / 17.231	6/6	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	3.603 / 1.449	4.638 / 2.484	5.179 / 3.421	5.120 / 3.709	5.649 / 4.382	6.248 / 5.071	6/6	Imported
sqrtVINS	Mono IMU	sqrtVINs Mono	1.662 / 1.082	2.334 / 1.882	2.494 / 2.312	2.494 / 2.619	2.690 / 2.837	2.685 / 2.899	6/6	Imported
sqrtVINS	Stereo IMU	sqrtVINs Stereo	1.671 / 0.963	2.338 / 1.631	2.585 / 1.893	2.647 / 2.019	2.860 / 2.060	2.813 / 1.866	6/6	Imported

Group 2ATE13 rows, 77 numeric cells

System	Mode	Source row	2024-11-03-07-52-45	2024-11-03-08-17-23	2024-11-03-13-59-54	2024-11-04-10-57-34	2024-11-04-12-55-59	Average	Coverage	Status
ROVIO	Mono IMU	rovio	5.755 / 3.040	26.346 / 33.666	7.367 / 7.970	6.495 / 10.645	10.366 / 13.654	11.266 / 13.795	6/6	Imported
SVO Pro	Stereo IMU	svo stereo	1.094 / 0.158	1.049 / 0.263	1.870 / 0.375	1.085 / 0.407	1.655 / 1.378	1.351 / 0.516	6/6	Imported
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	2.727 / 0.134	8.909 / 11.594	5.258 / 3.029	4.031 / 5.446	118.589 / 1.603	27.903 / 4.361	6/6	Imported
ORB-SLAM3	Mono IMU	mono vio orb slam3	1.159 / 1.228	30.689 / 43.573	8.249 / 1.976	14.848 / 1.182	3.564 / 10.439	11.702 / 11.680	6/6	Imported
VINS-Fusion	Mono IMU	V-Fusion Mono	15.322 / 52.604	0.944 / 0.212	96.667 / 16792.171	1.991 / 1.794	1.206 / 1.192	23.226 / 3369.595	6/6	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	4.120 / 0.108	1.980 / 0.182	60.825 / 156.352	7.932 / 0.689	3.081 / 1.026	15.587 / 31.671	6/6	Imported
BASALT	Stereo IMU	stereo basalt	4.241 / 0.450	3.028 / 0.827	TBD	4.219 / 2.464	2.871 / 1.276	3.590 / 1.254	5/6	Partial
sqrtVINS	Mono IMU	sqrtVINs Mono	2.910 / 2.317	2.166 / 0.224	3.640 / 3.370	2.362 / 0.776	2.501 / 1.696	2.715 / 1.676	6/6	Imported
sqrtVINS	Stereo IMU	sqrtVINs Stereo	3.815 / 1.305	2.113 / 0.139	11.303 / 10.942	2.270 / 0.603	2.424 / 0.957	4.385 / 2.789	6/6	Imported
OpenVINS	Mono IMU	open vins mono	3.049 / 0.142	2.316 / 0.240	126.436 / 18589.915	2.218 / 1.144	2.827 / 1.858	27.369 / 3718.660	6/6	Imported
OpenVINS	Stereo IMU	open vins stereo	2.532 / 0.093	2.214 / 0.229	22.831 / 26.150	2.226 / 0.462	2.464 / 1.395	6.453 / 5.666	6/6	Imported
OpenVINS	Mono IMU	open vins mono #2	2.707 / 0.478	2.249 / 0.231	130.992 / 5855.966	2.218 / 1.144	2.827 / 1.858	28.199 / 1171.936	6/6	Imported
OpenVINS	Stereo IMU	open vins stereo #2	2.532 / 0.093	2.696 / 0.804	56.783 / 289.274	2.226 / 0.462	2.464 / 1.395	13.340 / 58.406	6/6	Imported

Group 2RPE4 rows, 24 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
VINS-Fusion	Mono IMU	V-Fusion Mono	6.226 / 662.713	10.835 / 1218.116	15.146 / 1717.912	19.633 / 2186.639	23.946 / 2542.193	28.104 / 2875.472	6/6	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	2.453 / 0.869	2.864 / 1.595	2.914 / 2.296	3.130 / 3.069	3.603 / 3.800	3.436 / 4.467	6/6	Imported
sqrtVINS	Mono IMU	sqrtVINs Mono	1.766 / 0.592	2.382 / 0.995	2.727 / 1.296	2.792 / 1.480	3.225 / 1.671	3.235 / 1.889	6/6	Imported
sqrtVINS	Stereo IMU	sqrtVINs Stereo	1.823 / 1.119	2.402 / 1.767	2.786 / 2.340	2.905 / 2.860	3.345 / 3.335	3.371 / 3.821	6/6	Imported

Group 3ATE11 rows, 61 numeric cells

System	Mode	Source row	2024-11-04-13-07-13	2024-11-04-16-05-00	2024-11-11-12-07-40	2024-11-11-12-42-47	2024-11-11-14-29-44	Average	Coverage	Status
ROVIO	Mono IMU	rovio	17.682 / 3.696	9.224 / 9.391	131.830 / 231667.989	30.333 / 9513.526	2.873 / 8.952	38.388 / 48240.711	6/6	Imported
SVO Pro	Stereo IMU	svo stereo	5.037 / 1.102	1.777 / 0.469	4.995 / 2.707	1.886 / 2.317	1.445 / 1.528	3.028 / 1.624	6/6	Imported
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	10.746 / 1.423	4.282 / 2.483	4.852 / 0.807	13.105 / 0.529	5.850 / 2.716	7.767 / 1.592	6/6	Imported
ORB-SLAM3	Mono IMU	mono vio orb slam3	11.397 / 2.261	5.877 / 12.446	7.313 / 3.252	28.502 / 4.273	6.731 / 3.716	11.964 / 5.190	6/6	Imported
VINS-Fusion	Mono IMU	V-Fusion Mono	4.884 / 1.060	1.710 / 0.507	140.076 / 4137.988	149.958 / 16392.539	1.191 / 1.316	59.564 / 4106.682	6/6	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	5.131 / 1.082	1.843 / 0.609	22.212 / 579.589	2.889 / 1.338	1.212 / 1.314	6.658 / 116.786	6/6	Imported
BASALT	Stereo IMU	stereo basalt	8.774 / 0.551	2.444 / 0.801	TBD	1.595 / 3.357	2.786 / 1.458	3.900 / 1.542	5/6	Partial
sqrtVINS	Mono IMU	sqrtVINs Mono	5.141 / 1.084	2.804 / 0.364	TBD	2.495 / 1.349	2.443 / 0.666	3.221 / 0.866	5/6	Partial
sqrtVINS	Stereo IMU	sqrtVINs Stereo	5.451 / 1.081	2.687 / 0.643	TBD	2.361 / 0.714	2.327 / 0.665	3.207 / 0.776	5/6	Partial
OpenVINS	Mono IMU	open vins mono	5.420 / 1.048	2.647 / 0.626	TBD	6.485 / 3.861	2.389 / 0.669	4.235 / 1.551	5/6	Partial
OpenVINS	Stereo IMU	open vins stereo	5.754 / 1.065	2.651 / 0.414	TBD	125.553 / 204737.643	2.352 / 0.581	34.078 / 51184.926	5/6	Partial

Group 3RPE4 rows, 24 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
VINS-Fusion	Mono IMU	V-Fusion Mono	1.589 / 509.428	2.115 / 1063.554	2.457 / 1374.574	2.732 / 1811.072	2.980 / 2286.207	3.315 / 2773.496	6/6	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	1.605 / 20.739	2.171 / 39.243	2.625 / 55.744	2.984 / 72.181	3.484 / 87.841	4.037 / 104.429	6/6	Imported
sqrtVINS	Mono IMU	sqrtVINs Mono	1.491 / 0.498	2.073 / 0.791	2.378 / 0.999	2.560 / 1.144	2.564 / 1.210	2.599 / 1.228	6/6	Imported
sqrtVINS	Stereo IMU	sqrtVINs Stereo	1.483 / 0.467	2.063 / 0.767	2.347 / 0.974	2.526 / 1.109	2.489 / 1.177	2.493 / 1.193	6/6	Imported

Group 4ATE13 rows, 78 numeric cells

System	Mode	Source row	2024-11-14-11-17-02	2024-11-14-12-01-26	2024-11-14-14-36-02	2024-11-14-15-22-43	2024-11-14-16-04-09	Average	Coverage	Status
ROVIO	Mono IMU	rovio	19.234 / 19.437	9.117 / 5.303	3.068 / 6.362	9.512 / 4.482	4.000 / 8.117	8.986 / 8.740	6/6	Imported
SVO Pro	Stereo IMU	svo stereo	13.277 / 12.139	10.805 / 3.936	1.247 / 2.720	8.876 / 1.363	2.066 / 1.215	7.254 / 4.275	6/6	Imported
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	2.641 / 9.456	13.164 / 3.798	28.706 / 3.373	6.532 / 3.066	5.554 / 1.862	11.320 / 4.311	6/6	Imported
ORB-SLAM3	Mono IMU	mono vio orb slam3	7.681 / 14.407	16.549 / 7.941	3.168 / 6.836	6.141 / 7.439	5.081 / 10.935	7.724 / 9.511	6/6	Imported
VINS-Fusion	Mono IMU	V-Fusion Mono	8.368 / 14.462	11.935 / 4.188	1.229 / 1.518	9.668 / 2.343	2.094 / 3.540	6.659 / 5.210	6/6	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	11.455 / 11.591	11.807 / 3.877	2.271 / 1.361	9.232 / 2.057	2.833 / 2.683	7.520 / 4.314	6/6	Imported
BASALT	Stereo IMU	stereo basalt	9.899 / 12.071	12.010 / 3.680	2.972 / 1.413	6.091 / 2.744	2.086 / 1.549	6.612 / 4.291	6/6	Imported
sqrtVINS	Mono IMU	sqrtVINs Mono	12.329 / 11.768	10.899 / 4.422	2.390 / 0.323	9.373 / 1.973	2.526 / 1.016	7.503 / 3.901	6/6	Imported
sqrtVINS	Stereo IMU	sqrtVINs Stereo	12.230 / 11.732	11.218 / 4.355	2.468 / 0.368	9.788 / 2.640	2.571 / 0.416	7.655 / 3.902	6/6	Imported
OpenVINS	Mono IMU	open vins mono	12.350 / 11.942	10.268 / 3.868	2.423 / 0.608	9.606 / 2.115	2.383 / 1.343	7.406 / 3.975	6/6	Imported
OpenVINS	Stereo IMU	open vins stereo	12.321 / 11.924	10.480 / 3.688	2.372 / 0.216	9.668 / 2.207	2.586 / 0.489	7.485 / 3.705	6/6	Imported
OpenVINS	Mono IMU	open vins mono #2	12.350 / 11.942	10.114 / 3.914	2.423 / 0.608	9.635 / 2.137	2.479 / 1.578	7.400 / 4.036	6/6	Imported
OpenVINS	Stereo IMU	open vins stereo #2	12.321 / 11.924	10.642 / 3.835	2.372 / 0.216	9.434 / 1.953	2.559 / 0.542	7.465 / 3.694	6/6	Imported

Group 4RPE4 rows, 24 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
VINS-Fusion	Mono IMU	V-Fusion Mono	0.685 / 0.923	1.013 / 1.854	1.239 / 2.742	1.395 / 3.599	1.565 / 4.387	1.753 / 5.099	6/6	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	0.732 / 0.842	1.133 / 1.683	1.457 / 2.483	1.721 / 3.270	2.004 / 4.021	2.294 / 4.701	6/6	Imported
sqrtVINS	Mono IMU	sqrtVINs Mono	1.261 / 1.071	1.857 / 2.005	2.182 / 2.821	2.342 / 3.546	2.542 / 4.246	2.881 / 4.825	6/6	Imported
sqrtVINS	Stereo IMU	sqrtVINs Stereo	1.269 / 1.105	1.846 / 2.048	2.171 / 2.875	2.320 / 3.626	2.501 / 4.336	2.825 / 4.917	6/6	Imported

Group 5ATE13 rows, 78 numeric cells

System	Mode	Source row	2024-11-15-10-16-35	2024-11-15-11-18-14	2024-11-15-11-37-15	2024-11-15-12-06-03	2024-11-15-14-14-12	Average	Coverage	Status
ROVIO	Mono IMU	rovio	25.804 / 17.304	21.002 / 9.235	5.892 / 9.132	10.956 / 6.127	19.466 / 15.965	16.624 / 11.553	6/6	Imported
SVO Pro	Stereo IMU	svo stereo	1.171 / 0.846	10.694 / 0.796	1.954 / 1.167	2.376 / 1.246	11.708 / 1.188	5.581 / 1.049	6/6	Imported
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	4.773 / 1.052	16.608 / 2.781	1.210 / 0.645	1.872 / 0.575	23.383 / 1.876	9.569 / 1.386	6/6	Imported
ORB-SLAM3	Mono IMU	mono vio orb slam3	3.348 / 7.780	13.959 / 3.566	5.667 / 5.659	65.391 / 8.019	11.657 / 6.793	20.005 / 6.363	6/6	Imported
VINS-Fusion	Mono IMU	V-Fusion Mono	1.561 / 1.034	10.820 / 0.916	2.152 / 0.818	2.285 / 1.853	7.143 / 4.744	4.792 / 1.873	6/6	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	1.529 / 0.804	10.837 / 0.931	1.590 / 0.887	3.895 / 1.671	10.020 / 3.635	5.574 / 1.585	6/6	Imported
BASALT	Stereo IMU	stereo basalt	3.368 / 1.031	13.907 / 0.931	2.902 / 1.796	1.552 / 0.722	15.219 / 1.905	7.390 / 1.277	6/6	Imported
sqrtVINS	Mono IMU	sqrtVINs Mono	2.325 / 0.570	10.715 / 0.777	2.863 / 0.634	2.783 / 1.237	8.808 / 2.434	5.499 / 1.130	6/6	Imported
sqrtVINS	Stereo IMU	sqrtVINs Stereo	2.369 / 0.500	10.834 / 0.895	2.903 / 0.640	2.877 / 1.287	6.904 / 3.140	5.177 / 1.292	6/6	Imported
OpenVINS	Mono IMU	open vins mono	2.533 / 0.844	10.590 / 0.751	2.884 / 0.786	2.951 / 1.234	9.779 / 2.255	5.748 / 1.174	6/6	Imported
OpenVINS	Stereo IMU	open vins stereo	2.319 / 0.794	10.796 / 0.786	2.864 / 1.130	2.775 / 1.233	11.237 / 1.466	5.998 / 1.082	6/6	Imported
OpenVINS	Mono IMU	open vins mono #2	2.435 / 0.649	10.590 / 0.751	2.884 / 0.786	2.951 / 1.234	9.779 / 2.255	5.728 / 1.135	6/6	Imported
OpenVINS	Stereo IMU	open vins stereo #2	2.368 / 0.567	10.794 / 0.786	2.864 / 1.130	2.885 / 1.243	11.237 / 1.466	6.030 / 1.039	6/6	Imported

Group 5RPE4 rows, 24 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
VINS-Fusion	Mono IMU	V-Fusion Mono	0.870 / 0.836	1.169 / 1.561	1.435 / 2.147	1.513 / 2.626	1.713 / 2.985	1.803 / 3.176	6/6	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	0.862 / 0.786	1.135 / 1.463	1.375 / 2.010	1.454 / 2.456	1.640 / 2.773	1.734 / 2.965	6/6	Imported
sqrtVINS	Mono IMU	sqrtVINs Mono	1.618 / 0.789	2.193 / 1.457	2.635 / 2.002	2.671 / 2.453	2.996 / 2.802	3.185 / 2.988	6/6	Imported
sqrtVINS	Stereo IMU	sqrtVINs Stereo	1.622 / 0.820	2.218 / 1.492	2.669 / 2.024	2.747 / 2.471	3.067 / 2.810	3.255 / 2.956	6/6	Imported

Group 6ATE13 rows, 73 numeric cells

System	Mode	Source row	2024-11-15-14-43-52	2024-11-15-16-41-14	2024-11-18-12-05-01	2024-11-18-15-46-05	2024-11-18-16-59-23	Average	Coverage	Status
ROVIO	Mono IMU	rovio	23.978 / 3.426	12.222 / 11.179	7.172 / 9.322	5.295 / 3.941	4.647 / 5.851	10.663 / 6.744	6/6	Imported
SVO Pro	Stereo IMU	svo stereo	9.429 / 6.665	4.123 / 3.219	7.533 / 6.506	99.354 / 73993.291	10.735 / 7.355	26.235 / 14803.407	6/6	Imported
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	6.390 / 7.208	18.151 / 50.232	16.867 / 4.904	4.618 / 1.642	96.788 / 42.899	28.563 / 21.377	6/6	Imported
ORB-SLAM3	Mono IMU	mono vio orb slam3	16.025 / 8.402	105.987 / 79.063	4.846 / 4.483	14.641 / 34.117	TBD	35.375 / 31.516	5/6	Partial
VINS-Fusion	Mono IMU	V-Fusion Mono	18.281 / 6.035	153.698 / 193.902	165.398 / 361.686	7.040 / 1.115	13.341 / 6.242	71.551 / 113.796	6/6	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	18.127 / 6.230	162.031 / 226.177	125.480 / 286.898	18.086 / 6.802	17.539 / 5.370	68.253 / 106.296	6/6	Imported
BASALT	Stereo IMU	stereo basalt	6.143 / 7.764	TBD	TBD	TBD	TBD	6.143 / 7.764	2/6	Partial
sqrtVINS	Mono IMU	sqrtVINs Mono	9.735 / 6.692	2.479 / 12.320	2.000 / 1.919	2.737 / 1.142	1.718 / 4.422	3.734 / 5.299	6/6	Imported
sqrtVINS	Stereo IMU	sqrtVINs Stereo	9.576 / 6.688	3.855 / 15.170	2.364 / 1.507	2.350 / 0.802	2.124 / 1.659	4.054 / 5.165	6/6	Imported
OpenVINS	Mono IMU	open vins mono	9.848 / 6.825	5.136 / 21.570	51.822 / 4742.636	2.774 / 1.051	1.887 / 5.840	14.293 / 955.585	6/6	Imported
OpenVINS	Stereo IMU	open vins stereo	9.807 / 6.666	3.770 / 3.682	2.717 / 3.922	2.536 / 0.795	2.007 / 4.078	4.167 / 3.829	6/6	Imported
OpenVINS	Mono IMU	open vins mono #2	9.848 / 6.825	4.198 / 4.146	99.953 / 31534.185	2.774 / 1.051	1.887 / 5.840	23.732 / 6310.409	6/6	Imported
OpenVINS	Stereo IMU	open vins stereo #2	9.807 / 6.666	121.152 / 122733.902	2.717 / 3.922	2.536 / 0.795	2.007 / 4.078	27.644 / 24549.873	6/6	Imported

Group 6RPE4 rows, 24 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
VINS-Fusion	Mono IMU	V-Fusion Mono	3.185 / 2.239	3.367 / 4.252	3.391 / 6.186	3.378 / 8.224	3.250 / 10.513	3.802 / 12.672	6/6	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	2.395 / 2.124	3.326 / 3.770	3.975 / 5.154	4.572 / 6.531	4.785 / 7.796	5.263 / 9.036	6/6	Imported
sqrtVINS	Mono IMU	sqrtVINs Mono	1.808 / 1.242	2.291 / 2.261	2.359 / 3.112	2.589 / 3.855	2.717 / 4.480	2.674 / 4.978	6/6	Imported
sqrtVINS	Stereo IMU	sqrtVINs Stereo	1.868 / 1.259	2.370 / 2.198	2.496 / 2.991	2.750 / 3.733	2.892 / 4.341	2.865 / 4.871	6/6	Imported

Group 7ATE13 rows, 64 numeric cells

System	Mode	Source row	2024-11-25-14-57-08	2024-11-25-16-36-19	2024-12-03-13-15-38	2024-12-03-13-26-40	Average	Coverage	Status
ROVIO	Mono IMU	rovio	6.655 / 3.359	7.332 / 7.877	4.731 / 16.422	6.314 / 5.888	6.258 / 8.387	5/5	Imported
SVO Pro	Stereo IMU	svo stereo	0.939 / 1.316	6.499 / 1.093	1.194 / 2.037	1.291 / 0.729	2.481 / 1.294	5/5	Imported
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	34.216 / 1.175	7.877 / 0.372	1.508 / 4.618	19.172 / 13.678	15.693 / 4.961	5/5	Imported
ORB-SLAM3	Mono IMU	mono vio orb slam3	11.305 / 20.288	7.990 / 1.136	0.467 / 12.057	94.481 / 23.453	28.561 / 14.233	5/5	Imported
VINS-Fusion	Mono IMU	V-Fusion Mono	0.885 / 0.617	1.418 / 0.573	1.138 / 5.575	6.664 / 8.316	2.526 / 3.770	5/5	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	1.558 / 1.013	3.316 / 0.949	1.641 / 2.221	138.962 / 236.027	36.369 / 60.053	5/5	Imported
BASALT	Stereo IMU	stereo basalt	TBD	2.673 / 1.104	2.940 / 7.096	3.459 / 2.291	3.024 / 3.497	4/5	Partial
sqrtVINS	Mono IMU	sqrtVINs Mono	1.843 / 1.039	1.375 / 1.483	2.258 / 7.192	2.698 / 6.773	2.043 / 4.122	5/5	Imported
sqrtVINS	Stereo IMU	sqrtVINs Stereo	1.165 / 0.263	1.713 / 0.763	1.408 / 2.137	1.231 / 5.011	1.379 / 2.043	5/5	Imported
OpenVINS	Mono IMU	open vins mono	1.725 / 0.642	1.707 / 1.024	2.335 / 7.134	31.654 / 40.535	9.355 / 12.334	5/5	Imported
OpenVINS	Stereo IMU	open vins stereo	1.061 / 0.734	2.021 / 1.123	1.544 / 1.923	0.983 / 0.279	1.402 / 1.015	5/5	Imported
OpenVINS	Mono IMU	open vins mono #2	1.725 / 0.642	1.738 / 0.642	2.335 / 7.134	1.316 / 1.079	1.778 / 2.374	5/5	Imported
OpenVINS	Stereo IMU	open vins stereo #2	1.061 / 0.734	2.021 / 1.123	1.544 / 1.923	1.061 / 0.958	1.422 / 1.184	5/5	Imported

Group 7RPE4 rows, 24 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
VINS-Fusion	Mono IMU	V-Fusion Mono	0.582 / 0.744	0.710 / 1.277	0.788 / 1.792	0.907 / 2.303	0.992 / 2.754	1.067 / 3.224	6/6	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	0.689 / 5.550	0.941 / 11.134	1.159 / 18.084	1.412 / 26.461	1.598 / 33.837	1.788 / 40.689	6/6	Imported
sqrtVINS	Mono IMU	sqrtVINs Mono	0.694 / 0.816	0.914 / 1.540	1.051 / 2.216	1.210 / 2.816	1.327 / 3.350	1.463 / 3.753	6/6	Imported
sqrtVINS	Stereo IMU	sqrtVINs Stereo	0.743 / 0.549	1.001 / 0.986	1.146 / 1.404	1.283 / 1.774	1.395 / 2.057	1.506 / 2.276	6/6	Imported

Primary benchmark

Aqualoc

Tables: 6
Numeric: 214
TBD: 2

Archaeo-1ATE6 rows, 35 numeric cells

System	Mode	Source row	archaeo sequence 1	archaeo sequence 2	archaeo sequence 3	archaeo sequence 4	archaeo sequence 5	Average	Coverage	Status
ROVIO	Mono IMU	rovio	141.666 / 4.126	156.226 / 1.676	9.055 / 0.917	158.839 / 6.555	168.164 / 4.661	126.790 / 3.587	6/6	Imported
SVO Pro	Mono IMU	svo mono	11.726 / 3.102	2.397 / 0.334	1.951 / 0.377	51.862 / 5.893	3.869 / 1.183	14.361 / 2.178	6/6	Imported
VINS-Fusion	Mono IMU	V-Fusion Mono	4.898 / 1.150	93.624 / 2.789	118.105 / 3.918	26.068 / 5.570	10.128 / 1.568	50.565 / 2.999	6/6	Imported
sqrtVINS	Mono IMU	sqrtVINs Mono	176.279 / 2.546	178.214 / 2.003	179.010 / 1.165	175.059 / 3.335	174.700 / 1.587	176.652 / 2.127	6/6	Imported
ORB-SLAM3	Mono IMU	mono vio orb slam3	178.313 / 0.190	178.037 / 0.376	177.954 / 0.582	TBD	163.236 / 0.651	174.385 / 0.450	5/6	Partial
OpenVINS	Mono IMU	open vins mono	47.343 / 4.426	19.706 / 2.482	76.109 / 3.427	7.986 / 1.881	10.285 / 1.104	32.286 / 2.664	6/6	Imported

Archaeo-1RPE5 rows, 30 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
ROVIO	Mono IMU	rovio	20.779 / 4.007	29.572 / 5.710	36.633 / 5.916	48.340 / 6.644	57.802 / 8.756	53.671 / 9.980	6/6	Imported
SVO Pro	Mono IMU	svo mono	4.295 / 2.092	6.009 / 3.156	7.328 / 3.970	9.309 / 5.001	12.086 / 6.852	14.736 / 8.993	6/6	Imported
VINS-Fusion	Mono IMU	V-Fusion Mono	16.081 / 2.552	16.260 / 3.206	13.984 / 3.527	11.055 / 4.639	6.577 / 5.416	6.585 / 6.780	6/6	Imported
sqrtVINS	Mono IMU	sqrtVINs Mono	81.243 / 5.205	88.376 / 6.123	83.647 / 6.261	92.264 / 8.112	86.937 / 10.423	98.825 / 12.653	6/6	Imported
ORB-SLAM3	Mono IMU	mono vio orb slam3	103.638 / 6.447	104.394 / 7.118	84.151 / 5.270	78.822 / 6.737	93.945 / 6.543	98.381 / 5.036	6/6	Imported

Archaeo-2ATE6 rows, 35 numeric cells

System	Mode	Source row	archaeo sequence 1	archaeo sequence 2	archaeo sequence 3	archaeo sequence 4	archaeo sequence 5	Average	Coverage	Status
ROVIO	Mono IMU	rovio	3.656 / 3.433	157.015 / 4.112	174.030 / 6.656	4.128 / 1.543	6.221 / 2.528	69.010 / 3.655	6/6	Imported
SVO Pro	Mono IMU	svo mono	2.512 / 0.621	4.620 / 0.500	3.345 / 0.794	4.528 / 2.374	3.665 / 0.543	3.734 / 0.966	6/6	Imported
VINS-Fusion	Mono IMU	V-Fusion Mono	6.950 / 1.265	5.593 / 1.379	109.364 / 7.671	22.176 / 1.289	10.758 / 1.178	30.968 / 2.556	6/6	Imported
sqrtVINS	Mono IMU	sqrtVINs Mono	5.414 / 3.167	6.744 / 0.445	7.097 / 1.510	21.697 / 1.014	13.238 / 2.143	10.838 / 1.656	6/6	Imported
ORB-SLAM3	Mono IMU	mono vio orb slam3	TBD	166.838 / 0.433	164.890 / 0.502	175.793 / 0.678	131.635 / 6.166	159.789 / 1.945	5/6	Partial
OpenVINS	Mono IMU	open vins mono	19.456 / 5.702	12.167 / 3.061	81.978 / 8.127	6.764 / 2.066	30.855 / 5.753	30.244 / 4.942	6/6	Imported

Archaeo-2RPE5 rows, 30 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
ROVIO	Mono IMU	rovio	4.526 / 3.506	6.609 / 5.272	7.143 / 5.474	6.314 / 5.254	6.603 / 5.430	8.239 / 5.364	6/6	Imported
SVO Pro	Stereo IMU	svo stereo	1.912 / 0.628	2.944 / 0.994	3.626 / 1.172	3.792 / 1.364	3.548 / 1.425	3.129 / 1.570	6/6	Imported
VINS-Fusion	Mono IMU	V-Fusion Mono	23.292 / 2.253	33.697 / 3.973	37.437 / 4.948	38.098 / 5.323	40.195 / 5.034	42.693 / 4.532	6/6	Imported
sqrtVINS	Mono IMU	sqrtVINs Mono	5.044 / 1.756	6.131 / 2.619	5.141 / 2.744	5.267 / 2.803	4.969 / 2.925	5.143 / 3.308	6/6	Imported
ORB-SLAM3	Mono IMU	mono vio orb slam3	45.936 / 7.561	80.724 / 11.311	82.077 / 14.494	49.587 / 15.060	15.905 / 8.858	13.784 / 2.233	6/6	Imported

HarborATE6 rows, 48 numeric cells

System	Mode	Source row	harbor sequence 1	harbor sequence 2	harbor sequence 3	harbor sequence 4	harbor sequence 5	harbor sequence 6	harbor sequence 7	Average	Coverage	Status
SVO Pro	Mono IMU	svo mono	5.628 / 0.542	3.881 / 0.506	1.809 / 0.054	9.061 / 1.229	4.979 / 0.436	6.953 / 0.586	11.134 / 1.562	6.206 / 0.702	8/8	Imported
ROVIO	Mono IMU	rovio	12.070 / 0.809	3.573 / 0.539	1.421 / 0.098	6.619 / 0.695	3.545 / 0.368	2.336 / 0.095	2.555 / 0.480	4.588 / 0.441	8/8	Imported
VINS-Fusion	Mono IMU	V-Fusion Mono	16.337 / 1.616	130.599 / 5.071	2.895 / 0.059	164.230 / 4.594	12.661 / 0.559	10.741 / 0.139	135.828 / 2.383	67.613 / 2.060	8/8	Imported
sqrtVINS	Mono IMU	sqrtVINs Mono	2.571 / 0.323	2.340 / 1.578	2.570 / 0.146	7.480 / 0.932	5.011 / 0.631	9.652 / 0.275	2.925 / 0.504	4.650 / 0.627	8/8	Imported
ORB-SLAM3	Mono IMU	mono vio orb slam3	134.771 / 2.277	129.373 / 4.523	110.947 / 1.327	86.646 / 4.277	111.902 / 2.633	108.325 / 0.407	115.968 / 0.010	113.990 / 2.208	8/8	Imported
OpenVINS	Mono IMU	open vins mono	4.051 / 0.513	3.361 / 0.795	1.916 / 0.125	9.223 / 1.027	4.239 / 0.307	3.685 / 0.187	2.930 / 0.350	4.201 / 0.472	8/8	Imported

HarborRPE6 rows, 36 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
SVO Pro	Mono IMU	svo mono	3.521 / 0.558	5.945 / 0.922	8.747 / 1.081	9.126 / 1.149	8.412 / 1.312	5.777 / 1.086	6/6	Imported
ROVIO	Mono IMU	rovio	3.111 / 0.450	4.906 / 0.766	6.299 / 1.188	6.053 / 1.270	4.382 / 1.048	3.224 / 1.059	6/6	Imported
VINS-Fusion	Mono IMU	V-Fusion Mono	54.785 / 2.667	73.148 / 5.053	87.002 / 6.858	124.622 / 7.616	107.399 / 8.028	137.429 / 9.227	6/6	Imported
sqrtVINS	Mono IMU	sqrtVINs Mono	2.171 / 0.659	2.465 / 1.271	2.932 / 1.734	2.857 / 1.891	2.583 / 2.091	2.319 / 2.603	6/6	Imported
OpenVINS	Mono IMU	open vins mono	4.390 / 0.643	6.274 / 1.146	8.785 / 1.608	8.753 / 1.527	9.895 / 1.630	8.011 / 1.767	6/6	Imported
ORB-SLAM3	Mono IMU	mono vio orb slam3	95.567 / 2.099	115.130 / 10.652	0.000 / 0.000	0.000 / 0.000	0.000 / 0.000	0.000 / 0.000	6/6	Imported

Cross-check

Compatibility and repeat-run tables

Cross-check results stay separate from the primary dashboard. They are useful for reproducibility review but are not mixed into primary benchmark averages.

Cross-check

EuRoC MAV

Tables: 4
Numeric: 125
TBD: 0

Vicon RoomATE5 rows, 35 numeric cells

System	Mode	Source row	V1 01 easy	V1 02 medium	V1 03 difficult	V2 01 easy	V2 02 medium	V2 03 difficult	Average	Coverage	Status
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	0.532 / 0.022	2.020 / 0.044	2.257 / 0.036	2.502 / 0.048	0.928 / 0.035	2.621 / 0.058	1.810 / 0.040	7/7	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	0.744 / 0.114	3.097 / 0.112	6.462 / 0.117	3.175 / 0.113	3.161 / 0.128	3.481 / 0.319	3.353 / 0.151	7/7	Imported
DM-VIO	Mono IMU	dm vio	3.818 / 0.211	1.840 / 0.149	10.341 / 0.713	1.377 / 0.066	1.652 / 0.122	22.385 / 1.210	6.902 / 0.412	7/7	Imported
ROVIO	Mono IMU	rovio	1.438 / 0.084	1.869 / 0.173	3.330 / 0.137	3.974 / 0.228	2.877 / 0.276	2.003 / 0.158	2.303 / 0.166	7/7	Imported
OpenVINS	Stereo IMU	OpenVINS Stereo	0.614 / 0.054	2.423 / 0.053	2.960 / 0.058	1.699 / 0.058	1.325 / 0.046	1.688 / 0.102	1.785 / 0.062	7/7	Imported

Vicon RoomRPE5 rows, 30 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	0.665 / 0.063	0.741 / 0.070	0.747 / 0.067	0.798 / 0.068	0.777 / 0.077	0.880 / 0.078	6/6	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	1.969 / 0.130	2.346 / 0.165	2.771 / 0.202	3.178 / 0.235	3.277 / 0.268	4.189 / 0.296	6/6	Imported
DM-VIO	Mono IMU	dm vio	3.754 / 0.384	5.391 / 0.466	6.947 / 0.505	7.594 / 0.623	9.427 / 0.701	10.901 / 0.806	6/6	Imported
ROVIO	Mono IMU	rovio	1.278 / 0.169	1.770 / 0.221	1.933 / 0.256	2.038 / 0.281	2.054 / 0.289	1.933 / 0.302	6/6	Imported
OpenVINS	Stereo IMU	OpenVINS Stereo	0.903 / 0.078	1.057 / 0.099	1.184 / 0.103	1.272 / 0.105	1.426 / 0.113	1.583 / 0.119	6/6	Imported

Machine HallATE5 rows, 30 numeric cells

System	Mode	Source row	MH 01 easy	MH 02 easy	MH 03 medium	MH 04 difficult	MH 05 difficult	Average	Coverage	Status
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	1.388 / 0.051	0.981 / 0.081	1.350 / 0.038	1.148 / 0.062	4.894 / 0.142	1.952 / 0.075	6/6	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	1.631 / 0.258	1.699 / 0.230	1.365 / 0.333	2.165 / 0.419	1.593 / 0.318	1.691 / 0.312	6/6	Imported
DM-VIO	Mono IMU	dm vio	1.741 / 0.088	1.008 / 0.041	2.280 / 0.188	1.624 / 0.190	1.323 / 0.102	1.595 / 0.122	6/6	Imported
ROVIO	Mono IMU	rovio	3.425 / 0.253	1.659 / 0.388	3.088 / 0.525	1.996 / 0.354	79.179 / 0.001	17.869 / 0.304	6/6	Imported
OpenVINS	Stereo IMU	OpenVINS Stereo	2.504 / 0.092	2.675 / 0.118	1.080 / 0.140	3.047 / 0.154	1.291 / 0.238	2.119 / 0.149	6/6	Imported

Machine HallRPE5 rows, 30 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	0.536 / 0.112	0.767 / 0.160	0.928 / 0.175	1.057 / 0.171	1.203 / 0.163	1.351 / 0.202	6/6	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	1.084 / 0.245	1.314 / 0.382	1.513 / 0.436	1.715 / 0.436	1.963 / 0.442	2.136 / 0.526	6/6	Imported
DM-VIO	Mono IMU	dm vio	1.082 / 0.140	1.560 / 0.154	1.732 / 0.169	1.606 / 0.178	1.681 / 0.206	1.701 / 0.206	6/6	Imported
ROVIO	Mono IMU	rovio	1.007 / 0.293	1.395 / 0.403	1.815 / 0.464	1.995 / 0.531	2.399 / 0.491	2.682 / 0.562	6/6	Imported
OpenVINS	Stereo IMU	OpenVINS Stereo	0.952 / 0.158	1.323 / 0.206	1.404 / 0.245	1.498 / 0.265	1.585 / 0.292	1.758 / 0.303	6/6	Imported

Cross-check

UZH-FPV

Tables: 8
Numeric: 164
TBD: 8

IndoorATE4 rows, 28 numeric cells

System	Mode	Source row	indoor forward 10	indoor forward 3	indoor forward 5	indoor forward 6	indoor forward 7	indoor forward 9	Average	Coverage	Status
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	0.834 / 1.035	0.479 / 0.115	0.989 / 1.037	1.928 / 0.961	0.661 / 0.471	3.269 / 0.631	1.360 / 0.708	7/7	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	3.229 / 1.348	1.754 / 0.983	1.905 / 1.671	1.260 / 0.463	2.576 / 0.691	17.964 / 5.562	4.781 / 1.786	7/7	Imported
ROVIO	Mono IMU	rovio	3.241 / 0.363	3.730 / 0.631	2.873 / 0.407	1.906 / 0.449	9.494 / 1.172	3.249 / 0.368	4.082 / 0.565	7/7	Imported
OpenVINS	Stereo IMU	OpenVINS Stereo	0.932 / 0.225	2.670 / 0.346	0.584 / 0.120	3.004 / 0.161	4.726 / 0.336	0.753 / 0.258	2.111 / 0.241	7/7	Imported

IndoorRPE4 rows, 24 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	0.793 / 0.460	0.791 / 0.646	0.870 / 0.744	0.851 / 0.627	0.873 / 0.535	0.731 / 0.456	6/6	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	1.292 / 0.480	1.859 / 0.893	2.247 / 1.231	2.423 / 1.474	2.533 / 1.611	2.620 / 1.655	6/6	Imported
ROVIO	Mono IMU	rovio	0.811 / 0.265	1.229 / 0.435	1.586 / 0.553	1.898 / 0.610	2.232 / 0.636	2.564 / 0.671	6/6	Imported
OpenVINS	Stereo IMU	OpenVINS Stereo	0.651 / 0.119	0.924 / 0.171	1.197 / 0.220	1.352 / 0.254	1.517 / 0.279	1.715 / 0.303	6/6	Imported

Indoor45ATE4 rows, 24 numeric cells

System	Mode	Source row	indoor 45 12	indoor 45 13	indoor 45 14	indoor 45 2	indoor 45 4	Average	Coverage	Status
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	1.768 / 1.144	120.213 / 10.682	12.485 / 0.317	3.595 / 0.813	1.589 / 0.988	27.930 / 2.789	6/6	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	1.971 / 8.500	1.464 / 0.971	1.164 / 0.534	1.874 / 1.313	1.405 / 1.053	1.576 / 2.474	6/6	Imported
ROVIO	Mono IMU	rovio	4.479 / 9.146	2.151 / 0.329	3.098 / 0.526	2.813 / 0.531	1.733 / 0.457	2.855 / 2.198	6/6	Imported
OpenVINS	Stereo IMU	OpenVINS Stereo	2.434 / 0.215	0.688 / 0.181	1.599 / 0.207	0.732 / 0.303	1.338 / 0.292	1.358 / 0.240	6/6	Imported

Indoor45RPE4 rows, 24 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	1.667 / 0.669	2.234 / 1.095	2.323 / 1.292	2.197 / 1.252	1.909 / 1.150	2.064 / 1.105	6/6	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	1.207 / 0.741	1.621 / 1.333	1.855 / 1.803	1.724 / 2.050	1.600 / 2.254	1.401 / 2.642	6/6	Imported
ROVIO	Mono IMU	rovio	0.764 / 0.571	1.051 / 1.013	1.284 / 1.413	1.529 / 1.774	1.787 / 2.151	2.003 / 2.399	6/6	Imported
OpenVINS	Stereo IMU	OpenVINS Stereo	0.383 / 0.112	0.499 / 0.170	0.557 / 0.211	0.570 / 0.222	0.605 / 0.237	0.611 / 0.256	6/6	Imported

OutdoorATE4 rows, 16 numeric cells

System	Mode	Source row	outdoor forward 1 snapdragon	outdoor forward 3 snapdragon	outdoor forward 5 snapdragon	Average	Coverage	Status
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	2.084 / 1.296	1.591 / 1.038	2.870 / 1.294	2.182 / 1.209	4/4	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	3.504 / 4.026	6.145 / 2.677	1.902 / 0.484	3.850 / 2.395	4/4	Imported
ROVIO	Mono IMU	rovio	2.306 / 0.722	1.670 / 0.732	1.904 / 0.895	1.960 / 0.783	4/4	Imported
OpenVINS	Stereo IMU	OpenVINS Stereo	1.666 / 0.640	3.362 / 1.095	1.046 / 0.242	2.025 / 0.659	4/4	Imported

OutdoorRPE4 rows, 24 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
ROVIO	Mono IMU	rovio	0.623 / 0.325	0.930 / 0.532	1.159 / 0.700	1.336 / 0.804	1.492 / 0.873	1.590 / 0.911	6/6	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	0.955 / 0.553	1.425 / 1.004	1.827 / 1.396	2.127 / 1.695	2.325 / 1.895	2.451 / 2.013	6/6	Imported
ROVIO	Mono IMU	rovio #2	0.604 / 0.295	0.890 / 0.468	1.115 / 0.598	1.308 / 0.689	1.456 / 0.769	1.555 / 0.834	6/6	Imported
OpenVINS	Stereo IMU	OpenVINS Stereo	0.386 / 0.167	0.568 / 0.261	0.718 / 0.334	0.842 / 0.387	0.974 / 0.446	1.103 / 0.506	6/6	Imported

Outdoor45ATE4 rows, 6 numeric cells

System	Mode	Source row	outdoor 45 1 snapdragon	Average	Coverage	Status
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	TBD	TBD	0/2	TBD
VINS-Fusion	Stereo IMU	V-Fusion Stereo	0.927 / 0.555	0.927 / 0.555	2/2	Imported
ROVIO	Mono IMU	rovio	2.798 / 0.492	2.798 / 0.492	2/2	Imported
OpenVINS	Stereo IMU	OpenVINS Stereo	1.537 / 0.433	1.537 / 0.433	2/2	Imported

Outdoor45RPE4 rows, 18 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	TBD	TBD	TBD	TBD	TBD	TBD	0/6	TBD
VINS-Fusion	Stereo IMU	V-Fusion Stereo	0.729 / 0.257	0.949 / 0.434	1.106 / 0.600	1.165 / 0.766	1.229 / 0.859	1.590 / 0.879	6/6	Imported
ROVIO	Mono IMU	rovio	1.027 / 0.220	1.489 / 0.356	1.710 / 0.508	2.108 / 0.707	2.330 / 0.929	2.488 / 1.150	6/6	Imported
OpenVINS	Stereo IMU	OpenVINS Stereo	0.717 / 0.268	0.906 / 0.401	1.139 / 0.472	1.348 / 0.544	1.464 / 0.602	1.441 / 0.639	6/6	Imported

Cross-check

LaMAria

Tables: 10
Numeric: 194
TBD: 30

EasyATE4 rows, 16 numeric cells

System	Mode	Source row	R 01 easy	R 02 easy	R 03 easy	Average	Coverage	Status
ORB-SLAM3	Mono IMU	mono vio orb slam3	0.806 / 0.165	3.157 / 1.223	1.063 / 0.354	1.675 / 0.581	4/4	Imported
VINS-Fusion	Mono IMU	V-Fusion Mono	138.273 / 1716.982	3.988 / 1.342	96.347 / 357.437	79.536 / 691.921	4/4	Imported
ROVIO	Mono IMU	rovio	2.143 / 0.865	1.779 / 2.488	3.395 / 0.427	2.439 / 1.260	4/4	Imported
OpenVINS	Mono IMU	OpenVINS Mono	0.877 / 0.401	1.815 / 3.727	1.236 / 0.154	1.310 / 1.427	4/4	Imported

EasyRPE4 rows, 24 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
ORB-SLAM3	Mono IMU	mono vio orb slam3	0.725 / 0.178	0.849 / 0.319	0.926 / 0.458	0.981 / 0.599	0.998 / 0.714	1.007 / 0.789	6/6	Imported
VINS-Fusion	Mono IMU	V-Fusion Mono	11.586 / 112.813	17.183 / 217.361	22.281 / 316.873	27.683 / 412.870	31.767 / 499.361	33.373 / 585.648	6/6	Imported
ROVIO	Mono IMU	rovio	0.825 / 0.379	1.102 / 0.618	1.305 / 0.836	1.416 / 1.030	1.581 / 1.173	1.794 / 1.307	6/6	Imported
OpenVINS	Mono IMU	OpenVINS Mono	0.590 / 0.266	0.792 / 0.506	0.948 / 0.739	1.035 / 0.968	1.115 / 1.189	1.217 / 1.401	6/6	Imported

MediumATE4 rows, 18 numeric cells

System	Mode	Source row	R 04 medium	R 05 medium	R 06 medium	R 07 medium	Average	Coverage	Status
ORB-SLAM3	Mono IMU	mono vio orb slam3	2.178 / 4.662	TBD	TBD	1.679 / 6.028	1.928 / 5.345	3/5	Partial
VINS-Fusion	Mono IMU	V-Fusion Mono	3.470 / 5.359	99.147 / 49578.659	10.069 / 16.553	128.196 / 263978.892	60.221 / 78394.866	5/5	Imported
ROVIO	Mono IMU	rovio	4.512 / 5.716	12.361 / 7.292	3.918 / 5.608	9.548 / 10.216	7.585 / 7.208	5/5	Imported
OpenVINS	Mono IMU	OpenVINS Mono	2.265 / 2.186	6.712 / 3.476	2.149 / 2.505	2.842 / 3.188	3.492 / 2.839	5/5	Imported

MediumRPE4 rows, 24 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
ORB-SLAM3	Mono IMU	mono vio orb slam3	0.526 / 0.521	0.625 / 1.022	0.723 / 1.522	0.810 / 2.000	0.889 / 2.462	0.969 / 2.918	6/6	Imported
VINS-Fusion	Mono IMU	V-Fusion Mono	20.682 / 4099.662	32.956 / 8149.235	44.108 / 12195.330	53.956 / 16246.289	59.966 / 20312.521	59.765 / 24400.319	6/6	Imported
ROVIO	Mono IMU	rovio	0.979 / 0.836	1.432 / 1.430	1.777 / 1.907	2.103 / 2.368	2.455 / 2.842	2.825 / 3.314	6/6	Imported
OpenVINS	Mono IMU	OpenVINS Mono	0.590 / 0.161	0.815 / 0.287	1.000 / 0.420	1.156 / 0.568	1.310 / 0.719	1.484 / 0.873	6/6	Imported

HardATE4 rows, 12 numeric cells

System	Mode	Source row	R 08 hard	R 09 hard	R 10 hard	Average	Coverage	Status
ORB-SLAM3	Mono IMU	mono vio orb slam3	TBD	TBD	TBD	TBD	0/4	TBD
VINS-Fusion	Mono IMU	V-Fusion Mono	10.319 / 17.745	6.131 / 12.093	8.725 / 15.647	8.392 / 15.162	4/4	Imported
ROVIO	Mono IMU	rovio	9.087 / 15.869	169.692 / 145839.676	9.371 / 33.572	62.717 / 48629.706	4/4	Imported
OpenVINS	Mono IMU	OpenVINS Mono	8.605 / 12.223	13.444 / 14.221	4.287 / 7.719	8.779 / 11.388	4/4	Imported

HardRPE4 rows, 18 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
ORB-SLAM3	Mono IMU	mono vio orb slam3	TBD	TBD	TBD	TBD	TBD	TBD	0/6	TBD
VINS-Fusion	Mono IMU	V-Fusion Mono	0.992 / 0.561	1.346 / 1.013	1.646 / 1.399	1.930 / 1.764	2.197 / 2.132	2.427 / 2.525	6/6	Imported
ROVIO	Mono IMU	rovio	1.034 / 2.004	1.478 / 3.004	1.864 / 3.829	2.208 / 4.712	2.533 / 5.674	2.866 / 6.476	6/6	Imported
OpenVINS	Mono IMU	OpenVINS Mono	0.630 / 0.239	0.933 / 0.401	1.204 / 0.578	1.455 / 0.769	1.667 / 0.961	1.873 / 1.163	6/6	Imported

CPATE4 rows, 14 numeric cells

System	Mode	Source row	R 11 5cp	R 12 10cp	R 13 15cp	Average	Coverage	Status
ORB-SLAM3	Mono IMU	mono vio orb slam3	7.899 / 1.580	TBD	TBD	7.899 / 1.580	2/4	Partial
VINS-Fusion	Mono IMU	V-Fusion Mono	105.072 / 10.576	104.094 / 28.415	104.592 / 8.533	104.586 / 15.841	4/4	Imported
ROVIO	Mono IMU	rovio	48.086 / 6505.699	104.853 / 1104787.314	2.625 / 10.020	51.854 / 370434.344	4/4	Imported
OpenVINS	Mono IMU	OpenVINS Mono	6.167 / 2.240	32.909 / 31.882	10.292 / 19.708	16.456 / 17.943	4/4	Imported

Table 2: SE3 Alignment is used for this case.

CPRPE4 rows, 24 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
ORB-SLAM3	Mono IMU	mono vio orb slam3	1.550 / 0.234	1.559 / 0.397	1.615 / 0.587	1.658 / 0.816	1.759 / 1.048	1.857 / 1.225	6/6	Imported
VINS-Fusion	Mono IMU	V-Fusion Mono	71.598 / 6.805	81.253 / 13.823	83.892 / 21.292	83.400 / 29.362	79.978 / 37.584	80.286 / 45.398	6/6	Imported
ROVIO	Mono IMU	rovio	1.121 / 1.021	1.423 / 1.690	1.543 / 2.376	1.701 / 3.093	1.927 / 3.672	2.169 / 3.968	6/6	Imported
OpenVINS	Mono IMU	OpenVINS Mono	0.722 / 0.198	0.996 / 0.321	1.255 / 0.458	1.537 / 0.618	1.795 / 0.788	2.024 / 0.974	6/6	Imported

Additional SequenceATE4 rows, 26 numeric cells

System	Mode	Source row	sequence 1 19	sequence 1 20	sequence 2 11	sequence 2 12	sequence 3 17	sequence 3 18	sequence 4 10	sequence 4 11	Average	Coverage	Status
ORB-SLAM3	Mono IMU	mono vio orb slam3	TBD	TBD	TBD	TBD	TBD	TBD	TBD	TBD	TBD	0/9	TBD
VINS-Fusion	Mono IMU	V-Fusion Mono	131.693 / 1114856.371	105.700 / 10.947	101.391 / 40.189	111.448 / 66.083	127.319 / 3067144.206	132.658 / 3845093.530	138.570 / 2564897.163	138.102 / 2054806.965	123.360 / 1580864.432	9/9	Imported
ROVIO	Mono IMU	rovio	126.708 / 1257034.046	10.712 / 24.681	TBD	144.393 / 725854.193	20.870 / 1287.461	9.990 / 28.597	134.810 / 4647745.584	3.416 / 23.850	64.414 / 947428.344	8/9	Partial
OpenVINS	Mono IMU	OpenVINS Mono	1.032 / 1.676	2.730 / 5.679	5.023 / 6.876	8.633 / 22.066	7.336 / 18.369	24.055 / 37.054	117.799 / 406993.443	92.642 / 1378465.148	32.406 / 223193.789	9/9	Imported

Additional SequenceRPE4 rows, 18 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
ORB-SLAM3	Mono IMU	mono vio orb slam3	TBD	TBD	TBD	TBD	TBD	TBD	0/6	TBD
VINS-Fusion	Mono IMU	V-Fusion Mono	74.203 / 32133.414	90.036 / 63289.105	93.590 / 93000.469	96.368 / 122302.697	98.017 / 151232.190	98.521 / 180679.443	6/6	Imported
ROVIO	Mono IMU	rovio	1.209 / 0.879	1.497 / 1.331	1.652 / 1.785	1.729 / 2.198	1.895 / 2.668	2.049 / 3.080	6/6	Imported
OpenVINS	Mono IMU	OpenVINS Mono	0.674 / 0.321	0.883 / 0.507	1.046 / 0.701	1.193 / 0.826	1.320 / 1.041	1.460 / 1.223	6/6	Imported

Cross-check

GrandTour

Tables: 14
Numeric: 247
TBD: 2

Group 1ATE3 rows, 17 numeric cells

System	Mode	Source row	2024-10-01-11-29-55	2024-10-01-12-00-49	2024-11-02-17-10-25	2024-11-02-17-43-10	2024-11-02-21-12-51	Average	Coverage	Status
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	3.526 / 2.454	5.142 / 1.930	TBD	23.501 / 6.520	107.234 / 2.425	34.851 / 3.332	5/6	Partial
VINS-Fusion	Stereo IMU	V-Fusion Stereo	1.430 / 0.630	2.688 / 2.605	121.452 / 18.204	12.943 / 4.769	4.250 / 5.279	28.553 / 6.298	6/6	Imported
OpenVINS	Stereo IMU	OpenVINS Stereo	12.935 / 2.580	6.645 / 2.799	16.621 / 0.247	60.225 / 2.002	14.936 / 4.136	22.273 / 2.353	6/6	Imported

Table 3: 2024-11-02-21-12-51 seems to have some issues with z-axis.

Group 1RPE3 rows, 18 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	1.909 / 1.480	2.576 / 1.995	3.031 / 2.677	3.109 / 2.928	3.170 / 3.344	3.320 / 3.750	6/6	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	17.773 / 5.891	18.992 / 6.803	20.082 / 7.960	21.190 / 7.755	23.193 / 8.274	1.926 / 2.365	6/6	Imported
OpenVINS	Stereo IMU	OpenVINS Stereo	5.084 / 2.667	5.938 / 4.461	7.425 / 4.981	7.267 / 5.308	7.970 / 5.617	7.923 / 6.551	6/6	Imported

Group 2ATE3 rows, 17 numeric cells

System	Mode	Source row	2024-11-03-07-52-45	2024-11-03-08-17-23	2024-11-03-13-59-54	2024-11-04-10-57-34	2024-11-04-12-55-59	Average	Coverage	Status
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	4.258 / 0.369	52.763 / 51.672	TBD	19.119 / 0.929	5.324 / 1.078	20.366 / 13.512	5/6	Partial
VINS-Fusion	Stereo IMU	V-Fusion Stereo	1.031 / 0.063	1.308 / 0.197	91.840 / 922.913	2.097 / 0.772	2.004 / 1.108	19.656 / 185.010	6/6	Imported
OpenVINS	Stereo IMU	OpenVINS Stereo	100.951 / 27929.421	1.612 / 0.183	26.567 / 24.045	4.959 / 0.587	2.518 / 1.215	27.321 / 5591.090	6/6	Imported

Group 2RPE3 rows, 18 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	3.572 / 0.950	4.674 / 1.811	6.493 / 2.501	7.997 / 2.404	9.623 / 2.436	9.766 / 2.969	6/6	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	1.033 / 18.080	1.381 / 36.504	1.692 / 56.151	1.882 / 79.261	2.246 / 104.606	2.519 / 134.038	6/6	Imported
OpenVINS	Stereo IMU	OpenVINS Stereo	1.421 / 0.993	1.940 / 2.042	2.200 / 2.958	2.300 / 4.119	2.742 / 5.246	2.840 / 6.731	6/6	Imported

Group 3ATE3 rows, 18 numeric cells

System	Mode	Source row	2024-11-04-13-07-13	2024-11-04-16-05-00	2024-11-11-12-07-40	2024-11-11-12-42-47	2024-11-11-14-29-44	Average	Coverage	Status
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	10.624 / 1.315	3.814 / 0.600	3.914 / 0.381	8.511 / 0.412	5.811 / 8.756	6.535 / 2.293	6/6	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	5.148 / 1.083	1.847 / 0.616	26.107 / 565.462	3.152 / 1.501	1.223 / 1.308	7.495 / 113.994	6/6	Imported
OpenVINS	Stereo IMU	OpenVINS Stereo	11.333 / 0.547	2.371 / 0.769	54.346 / 55651.722	117.727 / 49388.710	1.556 / 0.582	37.467 / 21008.466	6/6	Imported

Group 3RPE3 rows, 18 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	1.714 / 2.027	2.015 / 3.879	2.089 / 5.957	2.203 / 8.426	2.273 / 10.991	2.682 / 14.246	6/6	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	1.698 / 20.730	2.277 / 38.359	2.760 / 54.082	3.132 / 70.059	3.666 / 85.256	4.270 / 100.632	6/6	Imported
OpenVINS	Stereo IMU	OpenVINS Stereo	0.651 / 3.197	0.894 / 5.954	0.938 / 8.293	1.026 / 11.001	1.081 / 13.003	1.116 / 15.331	6/6	Imported

Group 4ATE3 rows, 18 numeric cells

System	Mode	Source row	2024-11-14-11-17-02	2024-11-14-12-01-26	2024-11-14-14-36-02	2024-11-14-15-22-43	2024-11-14-16-04-09	Average	Coverage	Status
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	5.540 / 3.346	13.235 / 4.050	15.118 / 16.464	6.275 / 1.733	3.463 / 0.919	8.726 / 5.303	6/6	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	11.229 / 11.776	11.855 / 3.902	2.409 / 2.038	9.527 / 2.081	3.345 / 3.221	7.673 / 4.604	6/6	Imported
OpenVINS	Stereo IMU	OpenVINS Stereo	12.952 / 12.145	21.582 / 3.830	26.115 / 0.228	11.737 / 2.302	1.043 / 0.519	14.686 / 3.805	6/6	Imported

Group 4RPE3 rows, 18 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	1.724 / 1.439	2.441 / 2.674	2.824 / 3.829	2.759 / 4.849	2.754 / 5.691	2.966 / 6.633	6/6	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	0.793 / 0.866	1.169 / 1.728	1.482 / 2.543	1.728 / 3.336	2.009 / 4.087	2.281 / 4.759	6/6	Imported
OpenVINS	Stereo IMU	OpenVINS Stereo	3.407 / 1.492	4.313 / 2.825	5.039 / 4.126	5.517 / 5.353	5.220 / 6.482	5.577 / 7.488	6/6	Imported

Group 5ATE3 rows, 18 numeric cells

System	Mode	Source row	2024-11-15-10-16-35	2024-11-15-11-18-14	2024-11-15-11-37-15	2024-11-15-12-06-03	2024-11-15-14-14-12	Average	Coverage	Status
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	4.790 / 1.025	15.045 / 1.337	4.700 / 1.330	2.611 / 0.719	8.191 / 0.285	7.068 / 0.939	6/6	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	1.735 / 0.960	10.853 / 0.930	1.626 / 0.881	4.081 / 1.660	10.638 / 3.371	5.787 / 1.560	6/6	Imported
OpenVINS	Stereo IMU	OpenVINS Stereo	18.144 / 0.818	8.143 / 0.775	2.324 / 0.523	12.296 / 0.993	11.562 / 0.706	10.494 / 0.763	6/6	Imported

Group 5RPE3 rows, 18 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	1.977 / 1.093	2.786 / 1.922	3.355 / 2.463	3.685 / 2.690	3.655 / 2.897	3.763 / 3.179	6/6	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	0.908 / 0.776	1.169 / 1.450	1.387 / 1.993	1.480 / 2.427	1.661 / 2.742	1.754 / 2.931	6/6	Imported
OpenVINS	Stereo IMU	OpenVINS Stereo	3.189 / 1.161	3.878 / 2.141	4.202 / 2.927	4.267 / 3.580	4.356 / 4.027	4.594 / 4.443	6/6	Imported

Group 6ATE3 rows, 18 numeric cells

System	Mode	Source row	2024-11-15-14-43-52	2024-11-15-16-41-14	2024-11-18-12-05-01	2024-11-18-15-46-05	2024-11-18-16-59-23	Average	Coverage	Status
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	7.154 / 7.248	2.901 / 2.129	4.404 / 1.066	8.545 / 8.650	79.384 / 10.840	20.478 / 5.987	6/6	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	9.071 / 6.841	11.381 / 52.003	132.064 / 232.257	55.639 / 4690.200	100.504 / 232.017	61.732 / 1042.664	6/6	Imported
OpenVINS	Stereo IMU	OpenVINS Stereo	15.907 / 6.128	43.567 / 110873.965	101.233 / 32252.339	4.254 / 0.803	5.192 / 1.060	34.031 / 28626.859	6/6	Imported

Group 6RPE3 rows, 18 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	2.139 / 1.541	2.561 / 2.559	2.963 / 3.136	3.295 / 3.615	3.600 / 4.265	3.804 / 4.729	6/6	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	23.367 / 325.909	23.786 / 593.302	21.224 / 819.028	27.763 / 1027.578	30.291 / 1206.685	29.377 / 1315.457	6/6	Imported
OpenVINS	Stereo IMU	OpenVINS Stereo	1.357 / 2.620	1.803 / 5.089	2.110 / 7.613	2.463 / 9.975	2.745 / 12.649	2.922 / 15.390	6/6	Imported

Group 7ATE3 rows, 15 numeric cells

System	Mode	Source row	2024-11-25-14-57-08	2024-11-25-16-36-19	2024-12-03-13-15-38	2024-12-03-13-26-40	Average	Coverage	Status
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	3.918 / 0.245	13.808 / 2.107	17.760 / 16.392	20.317 / 1.908	13.951 / 5.163	5/5	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	1.777 / 1.063	3.376 / 0.976	1.662 / 2.124	20.559 / 34.083	6.843 / 9.561	5/5	Imported
OpenVINS	Stereo IMU	OpenVINS Stereo	2.189 / 0.981	5.145 / 1.039	7.663 / 1.804	5.929 / 0.664	5.231 / 1.122	5/5	Imported

Group 7RPE3 rows, 18 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
ORB-SLAM3	Stereo IMU	stereo vio orb slam3	1.581 / 1.500	1.575 / 2.370	1.546 / 3.241	1.791 / 3.976	1.066 / 5.306	1.024 / 6.075	6/6	Imported
VINS-Fusion	Stereo IMU	V-Fusion Stereo	0.733 / 1.369	0.962 / 2.622	1.131 / 3.626	1.350 / 4.646	1.540 / 5.687	1.723 / 6.800	6/6	Imported
OpenVINS	Stereo IMU	OpenVINS Stereo	1.226 / 0.404	1.403 / 0.703	1.437 / 0.971	1.605 / 1.216	1.791 / 1.375	1.921 / 1.539	6/6	Imported

Cross-check

Aqualoc

Tables: 6
Numeric: 146
TBD: 6

Archaeo-1ATE4 rows, 22 numeric cells

System	Mode	Source row	archaeo sequence 1	archaeo sequence 2	archaeo sequence 3	archaeo sequence 4	archaeo sequence 5	Average	Coverage	Status
ORB-SLAM3	Mono IMU	mono vio orb slam3	1.745 / 0.380	12.817 / 1.656	TBD	2.889 / 0.451	17.046 / 3.094	8.624 / 1.395	5/6	Partial
VINS-Fusion	Mono IMU	V-Fusion Mono	3.281 / 0.719	93.624 / 2.789	2.882 / 0.730	26.070 / 5.569	9.662 / 0.530	27.104 / 2.067	6/6	Imported
ROVIO	Mono IMU	rovio	151.408 / 4.127	131.476 / 1.683	174.714 / 0.901	TBD	132.136 / 4.641	147.434 / 2.838	5/6	Partial
OpenVINS	Mono IMU	OpenVINS Mono	40.245 / 3.857	25.273 / 2.220	139.460 / 23.254	38.134 / 5.490	6.407 / 4.064	49.904 / 7.777	6/6	Imported

Archaeo-1RPE4 rows, 23 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
ORB-SLAM3	Mono IMU	mono vio orb slam3	2.686 / 1.201	3.252 / 0.998	2.941 / 0.456	3.009 / 0.494	3.417 / 0.549	3.343 / 0.534	6/6	Imported
VINS-Fusion	Mono IMU	V-Fusion Mono	3.676 / 1.858	4.440 / 2.539	4.940 / 3.052	5.661 / 3.888	5.799 / 5.091	5.909 / 6.495	6/6	Imported
ROVIO	Mono IMU	rovio	95.203 / 8.496	123.863 / 7.176	76.453 / 3.674	35.435 / 5.964	134.713 / 10.734	TBD	5/6	Partial
OpenVINS	Mono IMU	OpenVINS Mono	4.424 / 6.263	7.591 / 8.035	9.587 / 7.165	15.704 / 13.786	11.873 / 23.164	7.589 / 37.534	6/6	Imported

Archaeo-2ATE4 rows, 24 numeric cells

System	Mode	Source row	archaeo sequence 1	archaeo sequence 2	archaeo sequence 3	archaeo sequence 4	archaeo sequence 5	Average	Coverage	Status
ORB-SLAM3	Mono IMU	mono vio orb slam3	28.479 / 2.729	121.492 / 3.229	10.296 / 4.406	4.689 / 0.157	38.910 / 2.441	40.773 / 2.593	6/6	Imported
VINS-Fusion	Mono IMU	V-Fusion Mono	6.950 / 1.265	5.593 / 1.379	109.364 / 7.671	22.176 / 1.289	10.758 / 1.178	30.968 / 2.556	6/6	Imported
ROVIO	Mono IMU	rovio	178.695 / 3.436	146.444 / 4.087	71.465 / 6.656	65.513 / 0.701	176.877 / 2.790	127.799 / 3.534	6/6	Imported
OpenVINS	Mono IMU	OpenVINS Mono	43.270 / 7.974	8.419 / 2.936	83.525 / 82.400	20.405 / 3.492	24.318 / 7.100	35.988 / 20.781	6/6	Imported

Archaeo-2RPE4 rows, 24 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
ORB-SLAM3	Mono IMU	mono vio orb slam3	2.686 / 1.201	3.252 / 0.998	2.941 / 0.456	3.009 / 0.494	3.417 / 0.549	3.343 / 0.534	6/6	Imported
VINS-Fusion	Mono IMU	V-Fusion Mono	23.292 / 2.253	33.697 / 3.973	37.437 / 4.948	38.098 / 5.323	40.195 / 5.034	42.693 / 4.532	6/6	Imported
ROVIO	Mono IMU	rovio	90.943 / 9.961	103.081 / 15.342	93.524 / 19.574	101.365 / 18.685	89.696 / 15.774	87.417 / 12.468	6/6	Imported
OpenVINS	Mono IMU	OpenVINS Mono	5.709 / 6.758	7.281 / 8.679	7.909 / 9.899	7.708 / 11.973	7.628 / 13.141	9.272 / 12.445	6/6	Imported

HarborATE4 rows, 32 numeric cells

System	Mode	Source row	harbor sequence 1	harbor sequence 2	harbor sequence 3	harbor sequence 4	harbor sequence 5	harbor sequence 6	harbor sequence 7	Average	Coverage	Status
ORB-SLAM3	Mono IMU	mono vio orb slam3	3.274 / 0.737	7.308 / 3.808	4.647 / 1.410	128.973 / 2.366	117.035 / 3.193	48.219 / 0.882	145.827 / 2.411	65.040 / 2.115	8/8	Imported
VINS-Fusion	Mono IMU	V-Fusion Mono	16.529 / 1.665	130.599 / 5.071	2.877 / 0.058	163.782 / 4.624	12.661 / 0.559	10.705 / 0.137	135.828 / 2.383	67.569 / 2.071	8/8	Imported
ROVIO	Mono IMU	rovio	171.743 / 0.801	177.689 / 0.542	179.372 / 0.113	177.846 / 0.680	177.410 / 0.390	178.163 / 0.091	177.521 / 0.462	177.106 / 0.440	8/8	Imported
OpenVINS	Mono IMU	OpenVINS Mono	4.063 / 4.485	4.448 / 6.226	1.877 / 2.054	12.383 / 14.235	3.860 / 6.829	3.532 / 2.042	4.285 / 4.063	4.921 / 5.705	8/8	Imported

HarborRPE4 rows, 21 numeric cells

System	Mode	Source row	8m	16m	24m	32m	40m	48m	Coverage	Status
ORB-SLAM3	Mono IMU	mono vio orb slam3	12.901 / 4.230	1.826 / 3.476	2.616 / 3.711	TBD	TBD	TBD	3/6	Partial
VINS-Fusion	Mono IMU	V-Fusion Mono	54.826 / 2.670	73.193 / 5.046	86.964 / 6.833	124.437 / 7.555	107.190 / 7.992	137.429 / 9.227	6/6	Imported
ROVIO	Mono IMU	rovio	95.145 / 7.869	110.393 / 11.762	116.131 / 12.386	111.863 / 12.689	84.353 / 14.464	110.874 / 12.111	6/6	Imported
OpenVINS	Mono IMU	OpenVINS Mono	1.667 / 3.037	2.677 / 5.319	3.514 / 7.112	4.435 / 8.382	5.142 / 9.085	5.705 / 10.251	6/6	Imported

Metric schema

What remains TBD

The uploaded tables provide accuracy metrics. Runtime, resource usage, Docker artifact links, and EPA output links remain TBD until the public reproducibility repository provides those artifacts.

ATE

Absolute Trajectory Error

Full trajectory after configured EPA alignment

TBD until metrics.json or summary.csv exists

RPE

Relative Pose Error

Local drift over configured distance, time, or frame pairs

TBD unless pair policy is recorded

Drift

Distance Drift Rate

Translation RPE normalized by path-length segment

TBD when segment policy is not available

Success

Drift-valid Success Rate

Reference-path percentage satisfying the configured criterion

TBD unless EPA drift-valid output is present

Runtime

Runtime

SOP timing output: tracking, estimation, and total

TBD until timing/<system>/<dataset>/<sequence>.txt is recorded

Resource

CPU, Memory, GPU if Applicable

Next-stage BMLogger-style resource monitor on a labeled platform

TBD until resource log and platform note are recorded