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Trajectory Estimation Position Accuracy on EuRoC MAV (MH01)
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0.0404
RMSE X
Qf-ES-EKF/UKF
0.040364
0.040607
0.04085
0.041093
Dec 19, 2025
RMSE X
RMSE Y
RMSE Z
ATE RMSE
Updated 4d ago
Evaluation Results
Method
Method
Links
RMSE X
RMSE Y
RMSE Z
ATE RMSE
Qf-ES-EKF/UKF
2025.12
0.0404
0.0464
0.0753
0.0892
SUKF
2025.12
0.0408
0.043
0.0785
0.0934
Adaptive Qf-ES-EKF/UKF
2025.12
0.0409
0.0431
0.0716
0.0854
ESKF
2025.12
0.0413
0.0458
0.0818
0.0967
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