ResearchBenchmarksTrajectory Estimation on Hong Kong dataset AverageFollow3.07PRMSEANPMN-UKF3.04123.23563.433.6244Mar 12, 2026Evaluation ResultsMethodMethodLinksPRMSEANPMN-UKF2026.033.07ANPN-UKF2026.033.21MB-AUKF2026.033.48UKF2026.033.79