ResearchBenchmarksVisual-Inertial Navigation on EuRoC MAV (V2-01)Follow0.777Position RMSE (m)T-EqF0.673721.370862.0682.76514Mar 25, 2026Evaluation ResultsMethodMethodLinksPosition RMSE (m)Orientation RMSE (deg)T-EqFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.030.7770.142ISD-EqFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.031.2120.136ESKFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.031.890.195SD-EqFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.033.3590.216