ResearchBenchmarksVisual-Inertial Navigation on OpenVINS TUM-CorrFollow0.152Position RMSE (m)ISD-EqF0.151280.156140.1610.16586Mar 25, 2026Evaluation ResultsMethodMethodLinksPosition RMSE (m)Orientation RMSE (deg)ISD-EqFSimulations=100Simulations=1002026.030.1520.079T-EqFSimulations=100Simulations=1002026.030.1520.079ESKFSimulations=100Simulations=1002026.030.1690.082SD-EqFSimulations=100Simulations=1002026.030.170.082