ResearchBenchmarksTrajectory Estimation on Hong Kong dataset Trajectory 2Follow2.98PRMSEMB-AUKF2.973.03753.1053.1725Mar 12, 2026Evaluation ResultsMethodMethodLinksPRMSEMB-AUKF2026.032.98ANPMN-UKF2026.032.98UKF2026.032.99ANPN-UKF2026.033.23