ResearchBenchmarksVisual-Inertial Navigation on EuRoC MAV MH-03Follow1.433Position RMSE (m)ISD-EqF1.363761.831132.29852.76587Mar 25, 2026Evaluation ResultsMethodMethodLinksPosition RMSE (m)Orientation RMSE (deg)ISD-EqFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.031.4330.279T-EqFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.031.5860.353SD-EqFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.032.5360.264ESKFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.033.1640.28