ResearchBenchmarksHeading Estimation on Seq. 003Follow1.13RMSE (Degrees)WinTA-GIL1.10241.28871.4751.6613Jul 6, 2026Evaluation ResultsMethodMethodLinksRMSE (Degrees)WinTA-GIL2026.071.13Baseline*description=fundamenta...description=fundamental GNSS/IMU/LiDAR fusion framework that lacks optimization strategies2026.071.16KF-GINS2026.071.73Fast-LIO2026.071.82