ResearchBenchmarksVisual-Inertial Navigation on EuRoC MAV AverageFollow1.43Position RMSE (m)T-EqF1.354721.862862.3712.87914Mar 25, 2026Evaluation ResultsMethodMethodLinksPosition RMSE (m)Orientation RMSE (deg)T-EqFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.031.430.302ISD-EqFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.031.5230.313SD-EqFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.033.2380.371ESKFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.033.3120.392