ResearchBenchmarksVisual-Inertial Navigation on OpenVINS EuRoC V101Follow0.166Position RMSE (m)ISD-EqF0.163360.181180.1990.21682Mar 25, 2026Evaluation ResultsMethodMethodLinksPosition RMSE (m)Orientation RMSE (deg)ISD-EqFSimulations=100Simulations=1002026.030.1660.025T-EqFSimulations=100Simulations=1002026.030.1660.025SD-EqFSimulations=100Simulations=1002026.030.2310.027ESKFSimulations=100Simulations=1002026.030.2320.027