significant deviation in estimating pose

[DeepDarkCoding]

Our team has applied your algorithm to vehicle positioning. When running the Baidu Apollo dataset, we found that the algorithm has high accuracy in estimating position, but there is a significant deviation in estimating pose, especially in terms of yaw angle deviation. This is difficult to accept for autonomous driving positioning, I wonder if the problem lies in the dataset or algorithm?It is remarkable that the vehicles in the dataset have a fast speed.