# Accuracy of monocular visual-inertial odometry

I am currently considering to use monocular visual-inertial odometry (VIO) to localize a smartphone relative to a known object. Now, what I would like to understand is, what kind of accuracy I can expect with such methods.

Is there any rule-of-thumb, which tells me something like a standard deviation from the real position, assuming that the filter is properly initialized and we have average smartphone hardware?