A method for correcting a bending of a flexible device is described. In one aspect, the method includes accessing feature data of a first stereo frame that is generated by stereo optical sensors of the flexible device, the feature data generated based on a visual-inertial odometry (VIO) system of the flexible device, accessing depth map data of the first stereo frame, the depth map data generated based on a depth map system of the flexible device, estimating a pitch-roll bias and a yaw bias based on the features data and the depth map data of the first stereo frame, and generating a second stereo frame after the first stereo frame, the second stereo frame based on the pitch-roll bias and the yaw bias of the first stereo frame.