ResearchBenchmarksState Estimation on Mobile robot dataset Trajectory 3 (test)State Estimation on Mobile robot dataset Trajectory 3 (test)Follow1.446Position North Error [m]BLENDS1.438921.486711.53451.58229Mar 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]Attitude Roll Error [rad]Attitude Pitch Error [rad]Attitude Yaw Error [rad]BLENDS2026.031.4461.3681.2420.1290.220.1490.0170.0182.549RTSS2026.031.622.3491.2060.1290.2220.1460.0170.0182.548TFS2026.031.622.3481.2060.1230.1590.1340.0150.0182.534EKF2026.031.6232.351.2070.1410.2420.1490.0250.0232.58