ResearchBenchmarksCross-view yaw estimation on Ford Dataset Log1 (Highway)Cross-view yaw estimation on Ford Dataset Log1 (Highway)Follow67.05Accuracy (<1°)LAYS14.73828.31941.955.481Jun 20, 2026Evaluation resultsMethodMethodLinksAccuracy (<1°)Accuracy (<2°)Accuracy (<4°)LAYS2026.0667.0585.1491.76CCVPE2026.0641.3662.7475.11BoostAcc2026.0624.3843.2467.86G2S2026.0616.8147.7168.43FG22026.0616.7541.8457.13