ResearchBenchmarksTrajectory estimation on Self-collected dataset Motion DegradationTrajectory estimation on Self-collected dataset Motion DegradationFollow0.162ARE (°)HPGT-Var0.155440.199720.2440.28828Dec 8, 2025Evaluation resultsMethodMethodLinksARE (°)ATE (mm)RRE (°)RTE (mm)HPGT-Vartype=Variable variancetype=Variable variance2025.120.1621.8110.0130.143HPGT-Fixtype=Fixed variancetype=Fixed variance2025.120.1691.7920.0130.152Kalibr-M2025.120.2022.8170.0140.163Raw-HEC2025.120.2762.1050.1410.526P2P-HEC2025.120.3152.7680.1420.528Vicon2GT2025.120.3263.9710.0180.175