ResearchBenchmarksVisual-Inertial Navigation on OpenVINS Udel-Arl-sFollow0.756Position RMSE (m)ISD-EqF0.73460.879051.02351.16795Mar 25, 2026Evaluation ResultsMethodMethodLinksPosition RMSE (m)Orientation RMSE (deg)ISD-EqFSimulations=100Simulations=1002026.030.7560.124T-EqFSimulations=100Simulations=1002026.030.7560.124ESKFSimulations=100Simulations=1002026.031.2910.141SD-EqFSimulations=100Simulations=1002026.031.2910.141