ResearchBenchmarksState Estimation on Indoor Stairs ID 1.0 (test)State Estimation on Indoor Stairs ID 1.0 (test)Follow3.346Rotational ErrorAttenNKF3.167364.373185.5796.78482Jan 26, 2026Evaluation resultsMethodMethodLinksRotational ErrorVelocity ErrorPosition ErrorAttenNKFEvaluation distance=5m...Evaluation distance=5m, Reporting format=Mean2026.013.3460.1740.081SREvaluation distance=5m...Evaluation distance=5m, Reporting format=Mean2026.013.4520.5680.348LCEvaluation distance=5m...Evaluation distance=5m, Reporting format=Mean2026.013.4940.4520.414InNKFEvaluation distance=5m...Evaluation distance=5m, Reporting format=Mean2026.017.8121.8780.086