ResearchBenchmarksTrajectory Estimation on EuRoC Vicon RoomFollow0.0717ATE (m)DIVO0.069440.0846950.099950.115205Jul 6, 2026Evaluation ResultsMethodMethodLinksATE (m)RMSE (m)ATE (°)RMSE (°)DIVOSensors=Camera, IMU, D...Sensors=Camera, IMU, DVL, Model=Proposed continuous-time DVL model2026.070.07170.06730.01630.0169VIOSensors=Camera, IMU, S...Sensors=Camera, IMU, Synchronized DVL2026.070.07380.06860.01650.017DIOSensors=DVL, IMU, Opti...Sensors=DVL, IMU, Optimization=Every DVL timestamp2026.070.12820.12470.03160.034