ResearchBenchmarksState Estimation on Mobile robot dataset Trajectory 2 (test)Follow0.543Position Error (North) [m]BLENDS0.517440.689970.86251.03503Mar 26, 2026Evaluation ResultsMethodMethodLinksPosition Error (North) [m]Position Error (East) [m]Position Error (Depth) [m]Velocity Error (North) [m/s]Velocity Error (East) [m/s]Velocity Error (Depth) [m/s]Orientation Error (Roll) [rad]Orientation Error (Pitch) [rad]Orientation Error (Yaw) [rad]BLENDS2026.030.5431.6611.3450.1520.1770.1270.0370.0182.099RTSS2026.031.1792.7291.4020.1420.140.1190.0360.0172.306TFS2026.031.1792.7291.4020.1520.1810.1260.0370.0182.322EKF2026.031.1822.7291.4030.1720.220.130.0390.0182.099