State Estimation on Ground Motion Sequences 20 real-world benchmark leaderboard · SOTA2 Research

State Estimation on Ground Motion Sequences 20 real-world

0.0805Linear Velocity ATE RMSECoCo-InEKF

Evaluation Results

Method	Links
CoCo-InEKF2026.05		0.0805	0.0398	0.0167	0.0699	0.2019	0.1497	0.1181	0.1355	0.0302	0.0201	0.013	0.0225
SET2026.05		0.0974	0.0475	0.0174	0.085	0.2245	0.1803	0.1498	0.1337	0.0257	0.0165	0.0109	0.0197
SET2026.05		0.1002	0.0501	0.0193	0.0867	0.1665	0.124	0.0952	0.111	0.0257	0.0165	0.0109	0.0197
Hybrid Baseline2026.05		0.1178	0.0738	0.0453	0.0918	0.7212	0.3764	0.2093	0.6152	0.0152	0.011	0.0085	0.0105
Hybrid Baseline+2026.05		0.1699	0.1108	0.0669	0.1288	1.4869	0.7305	0.3396	1.2951	0.0188	0.0129	0.0095	0.0137
InEKF, heuristic contacts2026.05		1.5419	0.5305	0.0261	1.4478	21.3841	6.0165	0.0671	20.5203	0.0152	0.011	0.0081	0.0105