ResearchBenchmarksTrajectory Estimation on Hong Kong dataset Trajectory 4Follow3.06PRMSEMB-AUKF3.05243.10373.1553.2063Mar 12, 2026Evaluation ResultsMethodMethodLinksPRMSEMB-AUKF2026.033.06ANPN-UKF2026.033.12ANPMN-UKF2026.033.16UKF2026.033.25