ResearchBenchmarksPosition Estimation on ROOAD Trajectory 2Follow2.92PRMSE (m)ANPMN-UKF2.81363.53184.254.9682Mar 12, 2026Evaluation ResultsMethodMethodLinksPRMSE (m)ANPMN-UKF2026.032.92ANPN-UKF2026.033.68MB-AUKF2026.033.73UKF2026.035.58