ResearchBenchmarksLocalization on Typical highway datasetLocalization on Typical highway datasetFollow0Clip Failure RateOurs-0.160.9223.08Apr 23, 2026Evaluation resultsMethodMethodLinksClip Failure RateFrame Failure RateLatitude RMSE (m)Latitude Max Error (m)Longitude RMSE (m)Longitude Max Error (m)Yaw RMSE (°)Yaw Max Error (°)Ours2026.04000.0220.1790.0310.1350.0380.259Ours-ndtType=Geometric (NDT)Type=Geometric (NDT)2026.04000.0250.1690.0270.1440.0370.262Autoware2026.04000.0220.1790.0310.2460.050.273Apollo2026.0431.70.0670.2970.1080.9480.1181.548Ours-intType=Intensity (Texture)Type=Intensity (Texture)2026.0440.140.0220.1840.0670.6530.0460.276