State Estimation on Debris terrain
0.1584ATE Velocity (m/s)GAIT
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| GAITIL tokenization=true2026.06 | 0.1584 | 0.0141 | 0.1302 | 0.2363 | 0.0144 | |
| NMN2026.06 | 0.1646 | 0.0162 | 0.1517 | 0.2465 | 0.0142 | |
| GAIT (w/o IL token)IL tokenization=false2026.06 | 0.1718 | 0.0139 | 0.2795 | 0.2519 | 0.0143 | |
| IEKF w/ SRSquare-Root Filtering=true2026.06 | 0.1739 | 0.0156 | 0.3381 | 0.2552 | 0.0152 | |
| IEKF2026.06 | 0.1986 | 0.0324 | 0.4247 | 0.2875 | 0.0198 |