ResearchBenchmarksLateral Dead-Reckoning on Oxford (15-13)Lateral Dead-Reckoning on Oxford (15-13)Follow0.33Median Lateral Error (m)BEV-ODOM20.32480.35990.3950.4301Sep 18, 2025Evaluation resultsMethodMethodLinksMedian Lateral Error (m)BEV-ODOM22025.090.33BEV-DWPVO2025.090.41BEV-ODOM2025.090.46