ResearchBenchmarksVisual-Inertial Navigation on EuRoC MAV (MH-01)Follow1.471Position RMSE (m)T-EqF1.277762.582133.88655.19087Mar 25, 2026Evaluation ResultsMethodMethodLinksPosition RMSE (m)Orientation RMSE (deg)T-EqFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.031.4710.509ISD-EqFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.032.2540.471ESKFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.035.3690.483SD-EqFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.036.3020.603