Trajectory Estimation Position Accuracy on EuRoC MAV (MH02)
0.0429RMSE XESKF
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| ESKF2025.12 | 0.0429 | 0.0547 | 0.0199 | 0.0724 | |
| SUKF2025.12 | 0.046 | 0.053 | 0.023 | 0.0754 | |
| Qf-ES-EKF/UKF2025.12 | 0.0483 | 0.0516 | 0.0251 | 0.0786 | |
| Adaptive Qf-ES-EKF/UKF2025.12 | 0.0487 | 0.0577 | 0.0686 | 0.1021 |