ResearchBenchmarksVisual-Inertial Navigation on EuRoC MAV V2-03Follow1.181Position RMSE (m)ISD-EqF1.120721.527611.93452.34139Mar 25, 2026Evaluation ResultsMethodMethodLinksPosition RMSE (m)Orientation RMSE (deg)ISD-EqFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.031.1810.189SD-EqFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.031.9550.158T-EqFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.032.0170.215ESKFMax Landmarks=40, Came...Max Landmarks=40, Camera=Left only2026.032.6880.263