ResearchBenchmarksVisual-Inertial Navigation on OpenVINS TUM-MagiFollow0.376Position RMSE (m)ISD-EqF0.371080.404290.43750.47071Mar 25, 2026Evaluation ResultsMethodMethodLinksPosition RMSE (m)Orientation RMSE (deg)ISD-EqFSimulations=100Simulations=1002026.030.3760.392T-EqFSimulations=100Simulations=1002026.030.3760.391ESKFSimulations=100Simulations=1002026.030.4560.42SD-EqFSimulations=100Simulations=1002026.030.4990.432