ResearchBenchmarksLiDAR-based State Estimation (SE) on NCLT (test)Follow22.6RMSEKalman Evolve16.8655.60594.35133.095May 26, 2026Evaluation ResultsMethodMethodLinksRMSEKalman Evolve2026.0522.6OKEoptimized=trueoptimized=true2026.0522.6KE2026.0522.7OKF2026.0523OKFoptimized=trueoptimized=true2026.0523KF2026.0526.3KF2026.0526.3Observations2026.0547.2KN2026.0549.4OBS2026.0549.7LSTM2026.05166.1