ResearchBenchmarksAbsolute Trajectory Error estimation on Castle Around UAV 2Absolute Trajectory Error estimation on Castle Around UAV 2Follow0.06Absolute Trajectory Error (m)IC-GVINS0.03280.21640.40.5836Mar 2, 2026Evaluation resultsMethodMethodLinksAbsolute Trajectory Error (m)IC-GVINSOdometry Mode=GVIOOdometry Mode=GVIO2026.030.06InGVIOOdometry Mode=GVIOOdometry Mode=GVIO2026.030.07D-GVIOOdometry Mode=GVIOOdometry Mode=GVIO2026.030.11COVINSOdometry Mode=VIOOdometry Mode=VIO2026.030.63X-VIOOdometry Mode=VIOOdometry Mode=VIO2026.030.73D-GVIOOdometry Mode=VIOOdometry Mode=VIO2026.030.74