ResearchBenchmarksVisual-Inertial Navigation on OpenVINS Udel-NeigFollow1.137Position RMSE (m)ISD-EqF1.117481.249241.3811.51276Mar 25, 2026Evaluation ResultsMethodMethodLinksPosition RMSE (m)Orientation RMSE (deg)ISD-EqFSimulations=100Simulations=1002026.031.1377.847T-EqFSimulations=100Simulations=1002026.031.1397.855SD-EqFSimulations=100Simulations=1002026.031.56910.65ESKFSimulations=100Simulations=1002026.031.62510.94