ResearchBenchmarksPosition Estimation on ROSBot-XL Average (test)Position Estimation on ROSBot-XL Average (test)Follow1.15PRMSE (m)WEKF1.11121.37311.6351.8969Jun 2, 2026Evaluation resultsMethodMethodLinksPRMSE (m)WEKFDescription=Fusion app...Description=Fusion approach combining WMINet and EKF2026.061.15EKFDescription=Standard E...Description=Standard EKF formulation using wheel-mounted IMU2026.062.12