ResearchBenchmarksPosition Estimation on ROOAD Trajectory 3Follow2.97PRMSE (m)ANPMN-UKF2.87883.49444.114.7256Mar 12, 2026Evaluation ResultsMethodMethodLinksPRMSE (m)ANPMN-UKF2026.032.97ANPN-UKF2026.033.06MB-AUKF2026.033.08UKF2026.035.25