ResearchBenchmarksState Estimation on Mobile robot dataset Trajectory 1 (val)State Estimation on Mobile robot dataset Trajectory 1 (val)Follow0.793Position North Error (m)BLENDS0.791720.800360.8090.81764Mar 26, 2026Evaluation resultsMethodMethodLinksPosition North Error (m)Position East Error (m)Position Down Error (m)Velocity North Error (m/s)Velocity East Error (m/s)Velocity Down Error (m/s)Roll Error (rad)Pitch Error (rad)Yaw Error (rad)BLENDS2026.030.7931.3350.9580.1770.1980.1370.0180.0191.786EKF2026.030.8242.3730.9530.1950.2470.1390.0270.0271.795RTSS2026.030.8242.3730.9510.1460.1480.1140.0170.0181.777TFS2026.030.8252.3740.9510.1720.2060.1370.0180.0191.786