ResearchBenchmarksTrajectory Estimation on Hong Kong dataset Trajectory 3Follow3.01PRMSEANPMN-UKF2.98563.15033.3153.4797Mar 12, 2026Evaluation ResultsMethodMethodLinksPRMSEANPMN-UKF2026.033.01ANPN-UKF2026.033.17MB-AUKF2026.033.45UKF2026.033.62