ResearchBenchmarksHeading Estimation on Street02Follow0.79RMSE (°)WinTA-GIL0.70321.28911.8752.4609Jul 6, 2026Evaluation ResultsMethodMethodLinksRMSE (°)WinTA-GIL2026.070.79Baseline*description=fundamenta...description=fundamental GNSS/IMU/LiDAR fusion framework that lacks optimization strategies2026.071.34Fast-LIO2026.071.82KF-GINS2026.072.96