ResearchBenchmarksAbsolute Trajectory Error estimation on Castle Around UAV 4Absolute Trajectory Error estimation on Castle Around UAV 4Follow0.07ATE (m)D-GVIO0.03960.24480.450.6552Mar 2, 2026Evaluation resultsMethodMethodLinksATE (m)D-GVIOOdometry Mode=GVIOOdometry Mode=GVIO2026.030.07InGVIOOdometry Mode=GVIOOdometry Mode=GVIO2026.030.09IC-GVINSOdometry Mode=GVIOOdometry Mode=GVIO2026.030.1D-GVIOOdometry Mode=VIOOdometry Mode=VIO2026.030.79COVINSOdometry Mode=VIOOdometry Mode=VIO2026.030.8X-VIOOdometry Mode=VIOOdometry Mode=VIO2026.030.83