ResearchBenchmarksVisual-Inertial Navigation on OpenVINS Udel-GoreFollow0.254Position RMSE (m)ISD-EqF0.249760.278380.3070.33562Mar 25, 2026Evaluation ResultsMethodMethodLinksPosition RMSE (m)Orientation RMSE (deg)ISD-EqFSimulations=100Simulations=1002026.030.2540.092T-EqFSimulations=100Simulations=1002026.030.2540.092ESKFSimulations=100Simulations=1002026.030.360.102SD-EqFSimulations=100Simulations=1002026.030.360.102