ResearchBenchmarksVisual-Inertial Navigation on EuRoC MAV (MH-02)Follow1.578Position RMSE (m)T-EqF1.36482.80394.2435.6821Mar 25, 2026Evaluation ResultsMethodMethodLinksPosition RMSE (m)Orientation RMSE (deg)T-EqFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.031.5780.32ISD-EqFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.032.2020.415SD-EqFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.033.5040.484ESKFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.036.9080.686