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Benchmarks
Visual-Inertial Navigation on EuRoC MAV V2-03
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1.181
Position RMSE (m)
ISD-EqF
1.12072
1.52761
1.9345
2.34139
Mar 25, 2026
Position RMSE (m)
Orientation RMSE (deg)
Updated 23d ago
Evaluation Results
Method
Method
Links
Position RMSE (m)
Orientation RMSE (deg)
ISD-EqF
Max Landmarks=40, Came...
2026.03
1.181
0.189
SD-EqF
Max Landmarks=40, Came...
2026.03
1.955
0.158
T-EqF
Max Landmarks=40, Came...
2026.03
2.017
0.215
ESKF
Max Landmarks=40, Came...
2026.03
2.688
0.263
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