ResearchBenchmarksHeading Estimation on Seq. 001Heading Estimation on Seq. 001Follow0.25RMSE (°)WinTA-GIL0.12840.94921.772.5908Jul 6, 2026Evaluation resultsMethodMethodLinksRMSE (°)WinTA-GIL2026.070.25Baseline2026.070.59WinTA-GIL2026.070.91Baseline*description=fundamenta...description=fundamental GNSS/IMU/LiDAR fusion framework that lacks optimization strategies2026.070.98Fast-LIO2026.071.89KF-GINS2026.072.49Fast-LIO2026.073.09KF-GINS2026.073.29