ResearchBenchmarksTrajectory estimation on Self-collected dataset Sufficient Motion scenarioTrajectory estimation on Self-collected dataset Sufficient Motion scenarioFollow0.151ARE (°)HPGT-Var0.145280.183890.22250.26111Dec 8, 2025Evaluation resultsMethodMethodLinksARE (°)ATE (mm)RRE (°)RTE (mm)HPGT-Vartype=Variable variancetype=Variable variance2025.120.1511.3410.0120.133HPGT-Fixtype=Fixed variancetype=Fixed variance2025.120.1641.3650.0140.142Kalibr-M2025.120.1842.0410.0140.156Raw-HEC2025.120.2691.8310.1450.52Vicon2GT2025.120.2733.1880.0170.172P2P-HEC2025.120.2942.3320.1490.521