ResearchBenchmarksState Estimation on A2RL Season 2 TrackState Estimation on A2RL Season 2 TrackFollow0.152Error (et)ADR-VINS0.12620.300350.47450.64865Mar 3, 2026Evaluation resultsMethodMethodLinksError (et)Error (er)Error (ev)ADR-VINS2026.030.1521.250.413PnP+EKF2026.030.3672.310.717PnP-Pose2026.030.7975.97—