ResearchBenchmarksTrajectory Estimation on Circular TrajectoryTrajectory Estimation on Circular TrajectoryFollow0.1148ATE (m)DIVO0.1099160.1428830.175850.208817Jul 6, 2026Evaluation resultsMethodMethodLinksATE (m)RMSE (m)ATE (°)RMSE (°)DIVOSensors=Camera, IMU, D...Sensors=Camera, IMU, DVL, Model=Proposed continuous-time DVL model2026.070.11480.11320.01360.0146VIOSensors=Camera, IMU, S...Sensors=Camera, IMU, Synchronized DVL2026.070.11610.11620.01290.0139DIOSensors=DVL, IMU, Opti...Sensors=DVL, IMU, Optimization=Every DVL timestamp2026.070.23690.23390.02620.0285