ResearchBenchmarksState Estimation on Indoor Soft Terrain OOD 1.0 (test)State Estimation on Indoor Soft Terrain OOD 1.0 (test)Follow1.478Rotational ErrorAttenNKF1.353842.191923.033.86808Jan 26, 2026Evaluation resultsMethodMethodLinksRotational ErrorVelocity ErrorPosition ErrorAttenNKFEvaluation distance=5m...Evaluation distance=5m, Reporting format=Mean2026.011.4780.3250.314SREvaluation distance=5m...Evaluation distance=5m, Reporting format=Mean2026.014.1670.6220.539LCEvaluation distance=5m...Evaluation distance=5m, Reporting format=Mean2026.014.2430.5650.979InNKFEvaluation distance=5m...Evaluation distance=5m, Reporting format=Mean2026.014.5820.6650.545