Reproduce “AnchorFlow-VIO: Fixed-Template Monocular Visual-Inertial Odometry on LaMAria” on OpenResearch
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About this paper
Sudhir Pratap Yadav
AnchorFlow-VIO evaluates a frozen Basalt-derived odometry system adapted to one grayscale camera and one IMU. It compares fixed and rolling templates and tests fresh starts. Outputs cover every image timestamp, but coverage does not ensure accurate tracking. On Lowlight10, control-point scores vary with start time, demonstrating sensitivity to start choice, not an isolated initialization defect on this benchmark.
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