ResearchBenchmarksVisual-Inertial Navigation on OpenVINS Udel-GaraFollow0.222Position RMSE (m)ISD-EqF0.220920.228210.23550.24279Mar 25, 2026Evaluation ResultsMethodMethodLinksPosition RMSE (m)Orientation RMSE (deg)ISD-EqFSimulations=100Simulations=1002026.030.2221.655T-EqFSimulations=100Simulations=1002026.030.2221.653ESKFSimulations=100Simulations=1002026.030.2451.686SD-EqFSimulations=100Simulations=1002026.030.2491.704