| Car sequence | Ours | RMSE0.198 | | 12 | 25d ago |
| Deg1 sequence | Ours | RMSE3.392 | | 6 | 25d ago |
| Field sequence | Ours | RMSE1.335 | | 6 | 25d ago |
| SCar sequence | Ours | RMSE0.525 | | 6 | 25d ago |
| Hand sequence | Ours | RMSE0.085 | | 6 | 25d ago |
| Long corridor 2 | loosely-coupled IM-SLAM | Horizontal Error1.03 | | 6 | 5mo ago |
| Seq 001 | WinTA-GIL | Position RMSE (m)0.06 | | 5 | 18d ago |
| UniBw Munich Parking Lot GPS GNSS-degraded (4 highest-elevation satellites) (test) | | Mean PDOP4.02 | | 4 | 2mo ago |
| Spiral staircase-3 | tightly-coupled IM-SLAM | Horizontal Error3.2 | | 3 | 5mo ago |
| Spiral staircase-2 | tightly-coupled IM-SLAM | Horizontal Error2.43 | | 3 | 5mo ago |
| Spiral staircase 1 | tightly-coupled IM-SLAM | Horizontal Error1.79 | | 3 | 5mo ago |
| Corridor-3 | loosely-coupled IM-SLAM | Horizontal Error1.76 | | 3 | 5mo ago |
| Corridor 1 | tightly-coupled IM-SLAM | Horizontal Error2.57 | | 3 | 5mo ago |
| Long corridor 3 | tightly-coupled IM-SLAM | Horizontal Error1.08 | | 3 | 5mo ago |
| Long corridor 1 | tightly-coupled IM-SLAM | Horizontal Error0.9 | | 3 | 5mo ago |
| Underwater Positioning Experiment Y-axis (test) | AEKF | MAE0.0147 | | 3 | 5mo ago |
| Inertial-acoustic pose fusion dataset X-axis (test) | AEKF | MAE0.0455 | | 3 | 5mo ago |
| UniBw Munich Parking Lot GPS GNSS-degraded PL02 (test) | | Mean PDOP4.35 | | 2 | 2mo ago |
| UniBw Munich Parking Lot GNSS-degraded + 2 Pseudolites (test) | | Mean PDOP3.11 | | 2 | 2mo ago |
