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Table 12 MAE of estimated attitude during flight in unknown environment

From: EKF-based self-attitude estimation with DNN learning landscape information

  Roll [deg] Pitch [deg]
Gyro 6.424 4.679
Gyro+Acc 3.155 3.091
Gyro+NDT 4.067 2.646
Gyro+Regression 3.248 1.984
Gyro+MLE (ours) 2.869 1.785