ResearchBenchmarksState Estimation on Real-world Flat EnvironmentState Estimation on Real-world Flat EnvironmentFollow0.212ATE (Position) [m]NANO-L0.205560.249030.29250.33597Apr 11, 2026Evaluation resultsMethodMethodLinksATE (Position) [m]ATE (Velocity) [m/s]ATE (Orientation) [rad]RPE (Position) [m]RPE (Velocity) [m/s]RPE (Orientation) [rad]Execution Time [ms]NANO-L2026.040.2120.1070.0170.0650.0930.0163.351InEKF2026.040.2810.1080.0220.0720.1060.0170.712EKF2026.040.3730.1220.020.0760.1070.0173.905