ResearchBenchmarksVisual-Inertial Navigation on EuRoC MAV V2-02Follow1.731Position RMSE (m)ESKF1.690081.966292.24252.51871Mar 25, 2026Evaluation ResultsMethodMethodLinksPosition RMSE (m)Orientation RMSE (deg)ESKFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.031.7310.104SD-EqFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.031.8540.147ISD-EqFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.032.3610.106T-EqFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.032.7540.103