ResearchBenchmarksUAV State Estimation on VerticalUAV State Estimation on VerticalFollow0.2Mean Translation Error (m)MAS-LO0.19440.23220.270.3078Jun 18, 2026Evaluation resultsMethodMethodLinksMean Translation Error (m)Std. Dev. Translation Error (m)Mean Rotation Error (rad)Std. Dev. Rotation Error (rad)Mean Linear Velocity Error (m/s)Std. Dev. Linear Velocity Error (m/s)MAS-LO2026.060.20.120.090.060.330.41LIO-SAM2026.060.340.310.080.020.790.65