ResearchBenchmarksState Estimation on Real-world Unstable EnvironmentFollow0.236ATE (Position) [m]NANO-L0.220120.327310.43450.54169Apr 11, 2026Evaluation ResultsMethodMethodLinksATE (Position) [m]ATE (Velocity) [m/s]ATE (Orientation) [rad]RE (Position) [m]RE (Velocity) [m/s]RE (Orientation) [rad]Time [ms]NANO-L2026.040.2360.1250.0120.1040.1080.0143.351InEKF2026.040.4010.140.0230.1620.1060.0170.712EKF2026.040.6330.1490.0210.2290.0940.0163.905