ResearchBenchmarksAbsolute Trajectory Error estimation on Castle Around UAV 1Absolute Trajectory Error estimation on Castle Around UAV 1Follow0.06ATE (m)IC-GVINS0.03440.20720.380.5528Mar 2, 2026Evaluation resultsMethodMethodLinksATE (m)IC-GVINSOdometry Mode=GVIOOdometry Mode=GVIO2026.030.06D-GVIOOdometry Mode=GVIOOdometry Mode=GVIO2026.030.07InGVIOOdometry Mode=GVIOOdometry Mode=GVIO2026.030.08COVINSOdometry Mode=VIOOdometry Mode=VIO2026.030.51D-GVIOOdometry Mode=VIOOdometry Mode=VIO2026.030.67X-VIOOdometry Mode=VIOOdometry Mode=VIO2026.030.7