ResearchBenchmarksBody-frame linear velocity estimation on Trot gait (seen)Body-frame linear velocity estimation on Trot gait (seen)Follow0.1052Mean Linear Velocity Estimation Error (m/s)GAIT0.1038120.1131810.122550.131919Jun 12, 2026Evaluation resultsMethodMethodLinksMean Linear Velocity Estimation Error (m/s)Std Dev Linear Velocity Estimation Error (m/s)GAITInertial-Leg (IL) toke...Inertial-Leg (IL) token=included2026.060.10520.046GAITInertial-Leg (IL) toke...Inertial-Leg (IL) token=not included2026.060.11350.05NMN2026.060.13530.061IEKF2026.060.13990.065