Final public systems

Benchmark systems

The public benchmark shows only final selected VIO / odometry systems. Non-final exploratory systems are not listed in public cards, tables, matrices, or charts.

System table

Public entries only

System status, Docker readiness, and reproducibility readiness are explicit. Empty numeric results remain TBD until artifacts are validated.

Filtering / MSCKF-style VIOTBD

OpenVINS

Modes: mono_imu, stereo_imu, binocular_imu
Docker: TBD
Reproducibility: TBD
Implementation: Public upstream implementation

GitHub repository

Filtering / square-root VIOTBD

sqrtVINS

Modes: mono_imu, stereo_imu
Docker: TBD
Reproducibility: TBD
Implementation: Benchmark adapter TBD

GitHub repository

Optimization-based visual-inertial odometryTBD

VINS-Fusion

Modes: mono_imu, stereo_imu
Docker: TBD
Reproducibility: TBD
Implementation: Public upstream implementation

Benchmark runs use odometry-only output for comparable reporting.

GitHub repository

Sparse visual odometry with inertial supportTBD

SVO Pro

Modes: mono_imu, stereo_imu
Docker: TBD
Reproducibility: TBD
Implementation: Benchmark adapter TBD

GitHub repository

Robust filtering-based VIOTBD

ROVIO

Modes: mono_imu
Docker: TBD
Reproducibility: TBD
Implementation: Benchmark adapter TBD

GitHub repository

Feature-based visual-inertial odometry modeTBD

ORB-SLAM3

Modes: mono_imu, stereo_imu
Docker: TBD
Reproducibility: TBD
Implementation: Public upstream implementation

Benchmark runs use odometry-only output for comparable reporting.

GitHub repository

Stereo visual-inertial odometryTBD

Kimera-VIO

Modes: mono_imu, stereo_imu
Docker: TBD
Reproducibility: TBD
Implementation: Benchmark adapter TBD

GitHub repository

Optimization-based VIOTBD

BASALT

Modes: stereo_imu
Docker: TBD
Reproducibility: TBD
Implementation: Benchmark adapter TBD

GitHub repository

Direct monocular visual-inertial odometryTBD

DM-VIO

Modes: mono_imu
Docker: TBD
Reproducibility: TBD
Implementation: Benchmark adapter TBD

GitHub repository

Keyframe optimization-based VIOTBD

OKVIS2 / OKVIS2-X

Modes: stereo_imu
Docker: TBD
Reproducibility: TBD
Implementation: Benchmark adapter TBD

Dataset and format support is recorded per benchmark target.

GitHub repository