ResearchBenchmarksProprioceptive State Estimation on Simulation Flat Surface Straight lineFollow0.2039ATE PositionIMM-PO0.183840.3192450.454650.590055Mar 31, 2026Evaluation ResultsMethodMethodLinksATE PositionATE AttitudeRPE PositionRPE AttitudeIMM-PO2026.030.20390.0020.04020.0028ESKF-R2026.030.24660.00270.04890.0029IEKF2026.030.43330.00290.08650.0032ESKF2026.030.64140.00280.12780.0028ESKF-VB2026.030.64580.00280.12870.0028KF2026.030.70540.00760.140.0035