ResearchBenchmarksVisual-Inertial Navigation on EuRoC MAV V1-02Follow0.743Position RMSE (m)T-EqF0.695521.016011.33651.65699Mar 25, 2026Evaluation ResultsMethodMethodLinksPosition RMSE (m)Orientation RMSE (deg)T-EqFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.030.7430.134ISD-EqFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.031.0150.131ESKFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.031.2320.214SD-EqFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.031.930.226