ResearchBenchmarksRobot Pose Estimation on AlienGo Real-world Experiment Complex terrainFollow0.102ATE (Position)IMM-PO0.091560.162030.23250.30297Mar 31, 2026Evaluation ResultsMethodMethodLinksATE (Position)ATE (Attitude)RPE (Position)RPE (Attitude)IMM-PO2026.030.1020.0430.0540.021IEKF2026.030.2271.5590.1020.997ESKF-VB2026.030.2730.0670.1260.047ESKF-R2026.030.2840.0720.1240.049ESKF2026.030.3230.0670.1480.048KF2026.030.3630.0890.1610.051