DefVINS: Visual-Inertial Odometry for Deformable Scenes

arXiv:2601.00702 · cs.RO, cs.CV · Submitted 2026-01-02 · Read on arXiv

cs.RO, cs.CV

Submitted: 2026-01-02

Updated: 2026-09-16

Terminology

Consistency — 13× in this paper · explained in 3 episodes
Visual-Inertial Odometry — 11× in this paper
Benchmark — 10× in this paper · explained in 2 episodes
Regularization — 8× in this paper · explained in 3 episodes
Robustness — 4× in this paper · explained in 5 episodes
Accuracy — 3× in this paper · explained in 1 episode
International Conference on Robotics and Automation — 2× in this paper
Ablation — 1× in this paper · explained in 1 episode
Ablation study — 1× in this paper · explained in 1 episode
Absolute Trajectory Error — 1× in this paper
Benchmarking — 1× in this paper · explained in 3 episodes
Calibration — 1× in this paper · explained in 7 episodes
Core — 1× in this paper · explained in 2 episodes
Decoupling — 1× in this paper · explained in 2 episodes
Foundation Model — 1× in this paper · explained in 3 episodes
Foundation Models — 1× in this paper · explained in 7 episodes
Gauge Freedom — 1× in this paper · explained in 2 episodes
Grounding — 1× in this paper · explained in 3 episodes
Objective Function — 1× in this paper · explained in 2 episodes
Relative Position Error — 1× in this paper

Sources

NR-SLAM: Non-Rigid Monocular SLAM

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