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Benchmarks
Trajectory Estimation Position Accuracy on EuRoC MAV (MH04)
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0.1228
RMSE X
Adaptive Qf-ES-EKF/UKF
0.116652
0.158151
0.19965
0.241149
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
Adaptive Qf-ES-EKF/UKF
2025.12
0.1228
0.177
0.1288
0.251
Qf-ES-EKF/UKF
2025.12
0.2623
0.3489
0.3389
0.5286
ESKF
2025.12
0.2698
0.3493
0.3441
0.5597
SUKF
2025.12
0.2765
0.339
0.3415
0.5558
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