ResearchBenchmarksVisual-Inertial Navigation on EuRoC MAV (MH-05)Follow1.24Position RMSE (m)T-EqF1.041322.382413.72355.06459Mar 25, 2026Evaluation ResultsMethodMethodLinksPosition RMSE (m)Orientation RMSE (deg)T-EqFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.031.240.529ISD-EqFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.031.8190.849ESKFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.033.4160.981SD-EqFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.036.2071.043