ResearchBenchmarksTrajectory Estimation on TankTrajectory Estimation on TankFollow0.078APE RMS (m)InsSo3D0.009760.470380.9311.39162Jan 9, 2026Evaluation resultsMethodMethodLinksAPE RMS (m)APE STD (m)InsSo3DAlignment=UmeyamaAlignment=Umeyama2026.010.0780.045InsSo3DAlignment=NoneAlignment=None2026.010.0890.046OdomAlignment=UmeyamaAlignment=Umeyama2026.011.0340.43OdomAlignment=NoneAlignment=None2026.011.7841.021