ResearchBenchmarksVisual-Inertial Navigation on EuRoC MAV (V1-01)Follow0.502Position RMSE (m)T-EqF0.460640.739821.0191.29818Mar 25, 2026Evaluation ResultsMethodMethodLinksPosition RMSE (m)Orientation RMSE (deg)T-EqFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.030.5020.077ISD-EqFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.030.9980.099SD-EqFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.031.0630.137ESKFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.031.5360.108