ResearchBenchmarksPosition Estimation on ROOAD Trajectory 5Follow2.94PRMSE (m)ANPN-UKF2.93362.97683.023.0632Mar 12, 2026Evaluation ResultsMethodMethodLinksPRMSE (m)ANPN-UKF2026.032.94ANPMN-UKF2026.032.94MB-AUKF2026.032.98UKF2026.033.1