ResearchBenchmarksAbsolute Trajectory Error estimation on Castle Around UAV 3Absolute Trajectory Error estimation on Castle Around UAV 3Follow0.08ATE (m)D-GVIO0.05040.25020.450.6498Mar 2, 2026Evaluation resultsMethodMethodLinksATE (m)D-GVIOOdometry Mode=GVIOOdometry Mode=GVIO2026.030.08IC-GVINSOdometry Mode=GVIOOdometry Mode=GVIO2026.030.11InGVIOOdometry Mode=GVIOOdometry Mode=GVIO2026.030.13COVINSOdometry Mode=VIOOdometry Mode=VIO2026.030.76D-GVIOOdometry Mode=VIOOdometry Mode=VIO2026.030.82X-VIOOdometry Mode=VIOOdometry Mode=VIO2026.030.82