ResearchBenchmarksVisual-Inertial Navigation on EuRoC MAV (V1-03)Follow2.244Position RMSE (m)ISD-EqF2.056763.320634.58455.84837Mar 25, 2026Evaluation ResultsMethodMethodLinksPosition RMSE (m)Orientation RMSE (deg)ISD-EqFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.032.2440.262T-EqFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.032.8710.257ESKFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.035.2660.308SD-EqFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.036.9250.363