ResearchBenchmarksLocalization on Simulated Environment Scenes S0-S9Localization on Simulated Environment Scenes S0-S9Follow0.61Translation MAE (cm)continuous-time, factor-graph-based MAP estimation framework0.60320.64910.6950.7409Feb 6, 2026Evaluation resultsMethodMethodLinksTranslation MAE (cm)Translation RMSE (cm)Rotation MAE (deg)Rotation RMSE (deg)continuous-time, factor-graph-based MAP estimation frameworkScene=S4, Prior Map=S0Scene=S4, Prior Map=S02026.020.610.740.960.98continuous-time, factor-graph-based MAP estimation frameworkScene=S7, Prior Map=S0Scene=S7, Prior Map=S02026.020.610.740.960.98continuous-time, factor-graph-based MAP estimation frameworkScene=S5, Prior Map=S0Scene=S5, Prior Map=S02026.020.730.940.960.98continuous-time, factor-graph-based MAP estimation frameworkScene=S8, Prior Map=S0Scene=S8, Prior Map=S02026.020.760.960.960.98continuous-time, factor-graph-based MAP estimation frameworkScene=S6, Prior Map=S0Scene=S6, Prior Map=S02026.020.770.980.960.98continuous-time, factor-graph-based MAP estimation frameworkScene=S9, Prior Map=S0Scene=S9, Prior Map=S02026.020.770.980.960.98continuous-time, factor-graph-based MAP estimation frameworkScene=S0, Prior Map=S0Scene=S0, Prior Map=S02026.020.780.990.960.98continuous-time, factor-graph-based MAP estimation frameworkScene=S1, Prior Map=S0Scene=S1, Prior Map=S02026.020.780.990.960.98continuous-time, factor-graph-based MAP estimation frameworkScene=S2, Prior Map=S0Scene=S2, Prior Map=S02026.020.7810.960.98continuous-time, factor-graph-based MAP estimation frameworkScene=S3, Prior Map=S0Scene=S3, Prior Map=S02026.020.780.990.960.98