# LiDAR Localization on NCLT 2012-03-31 Source: [LiDAR Localization on NCLT 2012-03-31]() Collection index: [llms.txt]() Data updated: 2026-06-29T06:54:29.192Z Evaluation of LiDAR localization performance using the NCLT 2012-03-31 dataset, reporting mean position and orientation errors. A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. | Scope | Recorded value | | --- | --- | | Task | LiDAR Localization | | Dataset (including any stated split) | NCLT 2012-03-31 | | Metric | Position Error (m) | | Unit | SCALAR | | Direction | Lower is better | | Results loaded | 33 of 33 | | Coverage | All results currently returned for this benchmark | Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol. ## Metrics - [Position Error (m)](): Lower is better; unit: SCALAR. - [Orientation Error (°)](): Lower is better; unit: SCALAR. ## Recorded results | Method | Position Error (m) | Result date | Report paper | | --- | --- | --- | --- | | LEADER | 0.29 | Not recorded | 69ddca4d7d0172140ec79cf9 | | LightLoc | 0.86 | Not recorded | 68fa778f1e209131cea73ea8 | | LightLoc | 0.86 | Not recorded | 69ddca4d7d0172140ec79cf9 | | LISA | 0.87 | Not recorded | 68fa778f1e209131cea73ea8 | | LiSA | 0.87 | Not recorded | 69ddca4d7d0172140ec79cf9 | | DiffLoc | 0.98 | Not recorded | 68fa778f1e209131cea73ea8 | | DiffLoc | 0.98 | Not recorded | 69ddca4d7d0172140ec79cf9 | | DiffLoc (Real-valued) | 0.98 | Not recorded | 6a41fc24206542251d7ccbfe | | SGLoc | 1.12 | Not recorded | 68fa778f1e209131cea73ea8 | | SGLoc | 1.12 | Not recorded | 69ddca4d7d0172140ec79cf9 | | HypLiLoc | 1.52 | Not recorded | 68fa778f1e209131cea73ea8 | | HypLiLoc | 1.52 | Not recorded | 69ddca4d7d0172140ec79cf9 | | HypLiLoc | 1.52 | Not recorded | 6a41fc24206542251d7ccbfe | | RALoc | 1.58 | Not recorded | 69ddca4d7d0172140ec79cf9 | | BiLoc (Ours) | 1.94 | Not recorded | 6a41fc24206542251d7ccbfe | | DiffLoc (BHViT) | 2.39 | Not recorded | 6a41fc24206542251d7ccbfe | | DiffLoc (BinaryViT) | 3.44 | Not recorded | 6a41fc24206542251d7ccbfe | | NIDALoc | 3.67 | Not recorded | 68fa778f1e209131cea73ea8 | | STCLoc | 3.75 | Not recorded | 68fa778f1e209131cea73ea8 | | STCLoc | 3.75 | Not recorded | 6a41fc24206542251d7ccbfe | | PoseMinkLoc | 4.23 | Not recorded | 68fa778f1e209131cea73ea8 | | PoseMinkLoc | 4.23 | Not recorded | 6a41fc24206542251d7ccbfe | | PosePN++ | 4.35 | Not recorded | 68fa778f1e209131cea73ea8 | | PosePN++ | 4.35 | Not recorded | 69ddca4d7d0172140ec79cf9 | | PosePN++ | 4.35 | Not recorded | 6a41fc24206542251d7ccbfe | | DiffLoc (ReActNet) | 4.91 | Not recorded | 6a41fc24206542251d7ccbfe | | PoseSOE | 5.24 | Not recorded | 68fa778f1e209131cea73ea8 | | PoseSOE | 5.24 | Not recorded | 6a41fc24206542251d7ccbfe | | PosePN | 5.79 | Not recorded | 68fa778f1e209131cea73ea8 | | PosePN | 5.79 | Not recorded | 6a41fc24206542251d7ccbfe | | PointLoc | 6.71 | Not recorded | 68fa778f1e209131cea73ea8 | | PointLoc | 6.71 | Not recorded | 69ddca4d7d0172140ec79cf9 | | PointLoc | 6.71 | Not recorded | 6a41fc24206542251d7ccbfe | ### LEADER Position Error (m): 0.29. Result ID: 69de28e247f34ce924c6c35a. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Method category":"SCR"}. This record does not assert independent reproduction. ### LightLoc Position Error (m): 0.86. Result ID: 69953f4c3badfaffe628e9e8. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Training Time":"1h","Params":"23M"}. This record does not assert independent reproduction. ### LightLoc Position Error (m): 0.86. Result ID: 69de28e247f34ce924c6c358. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Method category":"SCR"}. This record does not assert independent reproduction. ### LISA Position Error (m): 0.87. Result ID: 69953f4c3badfaffe628e9e7. [Reporting paper]() Recorded evaluation configuration: {"Training Time":"44h","Params":"105M"}. This record does not assert independent reproduction. ### LiSA Position Error (m): 0.87. Result ID: 69de28e247f34ce924c6c357. [Reporting paper]() Recorded evaluation configuration: {"Method category":"SCR"}. This record does not assert independent reproduction. ### DiffLoc Position Error (m): 0.98. Result ID: 69953f4c3badfaffe628e9e5. [Reporting paper]() Recorded evaluation configuration: {"Training Time":"100h","Params":"40M"}. This record does not assert independent reproduction. ### DiffLoc Position Error (m): 0.98. Result ID: 69de28e247f34ce924c6c355. [Reporting paper]() Recorded evaluation configuration: {"Method category":"APR"}. This record does not assert independent reproduction. ### DiffLoc (Real-valued) Position Error (m): 0.98. Result ID: 6a42169dfbc373592c86cb77. [Reporting paper]() Recorded evaluation configuration: {"Framework":"DiffLoc","Method":"Real-valued","Bits":"32"}. This record does not assert independent reproduction. ### SGLoc Position Error (m): 1.12. Result ID: 69953f4c3badfaffe628e9e6. [Reporting paper]() Recorded evaluation configuration: {"Training Time":"42h","Params":"105M"}. This record does not assert independent reproduction. ### SGLoc Position Error (m): 1.12. Result ID: 69de28e247f34ce924c6c356. [Reporting paper]() Recorded evaluation configuration: {"Method category":"SCR"}. This record does not assert independent reproduction. ### HypLiLoc Position Error (m): 1.52. Result ID: 69953f4c3badfaffe628e9e4. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Training Time":"12h","Params":"52M"}. This record does not assert independent reproduction. ### HypLiLoc Position Error (m): 1.52. Result ID: 69de28e247f34ce924c6c354. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Method category":"APR"}. This record does not assert independent reproduction. ### HypLiLoc Position Error (m): 1.52. Result ID: 6a42169dfbc373592c86cb76. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Framework":"HypLiLoc","Method":"Real-valued","Bits":"32"}. This record does not assert independent reproduction. ### RALoc Position Error (m): 1.58. Result ID: 69de28e247f34ce924c6c359. [Reporting paper]() Recorded evaluation configuration: {"Method category":"SCR"}. This record does not assert independent reproduction. ### BiLoc (Ours) Position Error (m): 1.94. Result ID: 6a42169dfbc373592c86cb7b. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Framework":"DiffLoc","Method":"Ours","Bits":"1"}. This record does not assert independent reproduction. ### DiffLoc (BHViT) Position Error (m): 2.39. Result ID: 6a42169dfbc373592c86cb7a. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Framework":"DiffLoc","Method":"BHViT","Bits":"1"}. This record does not assert independent reproduction. ### DiffLoc (BinaryViT) Position Error (m): 3.44. Result ID: 6a42169dfbc373592c86cb79. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Framework":"DiffLoc","Method":"BinaryViT","Bits":"1"}. This record does not assert independent reproduction. ### NIDALoc Position Error (m): 3.67. Result ID: 69953f4c3badfaffe628e9e3. [Reporting paper]() Recorded evaluation configuration: {"Training Time":"14h","Params":"8M"}. This record does not assert independent reproduction. ### STCLoc Position Error (m): 3.75. Result ID: 69953f4c3badfaffe628e9e2. [Reporting paper]() Recorded evaluation configuration: {"Training Time":"14h","Params":"9M"}. This record does not assert independent reproduction. ### STCLoc Position Error (m): 3.75. Result ID: 6a42169dfbc373592c86cb75. [Reporting paper]() Recorded evaluation configuration: {"Framework":"STCLoc","Method":"Real-valued","Bits":"32"}. This record does not assert independent reproduction. ### PoseMinkLoc Position Error (m): 4.23. Result ID: 69953f4c3badfaffe628e9e0. [Reporting paper]() Recorded evaluation configuration: {"Training Time":"5h","Params":"13M"}. This record does not assert independent reproduction. ### PoseMinkLoc Position Error (m): 4.23. Result ID: 6a42169dfbc373592c86cb73. [Reporting paper]() Recorded evaluation configuration: {"Framework":"PoseMinkLoc","Method":"Real-valued","Bits":"32"}. This record does not assert independent reproduction. ### PosePN++ Position Error (m): 4.35. Result ID: 69953f4c3badfaffe628e9df. [Reporting paper]() Recorded evaluation configuration: {"Training Time":"8h","Params":"5M"}. This record does not assert independent reproduction. ### PosePN++ Position Error (m): 4.35. Result ID: 69de28e247f34ce924c6c353. [Reporting paper]() Recorded evaluation configuration: {"Method category":"APR"}. This record does not assert independent reproduction. ### PosePN++ Position Error (m): 4.35. Result ID: 6a42169dfbc373592c86cb72. [Reporting paper]() Recorded evaluation configuration: {"Framework":"PosePN++","Method":"Real-valued","Bits":"32"}. This record does not assert independent reproduction. ### DiffLoc (ReActNet) Position Error (m): 4.91. Result ID: 6a42169dfbc373592c86cb78. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Framework":"DiffLoc","Method":"ReActNet","Bits":"1"}. This record does not assert independent reproduction. ### PoseSOE Position Error (m): 5.24. Result ID: 69953f4c3badfaffe628e9e1. [Reporting paper]() Recorded evaluation configuration: {"Training Time":"10h","Params":"5M"}. This record does not assert independent reproduction. ### PoseSOE Position Error (m): 5.24. Result ID: 6a42169dfbc373592c86cb74. [Reporting paper]() Recorded evaluation configuration: {"Framework":"PoseSOE","Method":"Real-valued","Bits":"32"}. This record does not assert independent reproduction. ### PosePN Position Error (m): 5.79. Result ID: 69953f4c3badfaffe628e9de. [Reporting paper]() Recorded evaluation configuration: {"Training Time":"3h","Params":"4M"}. This record does not assert independent reproduction. ### PosePN Position Error (m): 5.79. Result ID: 6a42169dfbc373592c86cb71. [Reporting paper]() Recorded evaluation configuration: {"Framework":"PosePN","Method":"Real-valued","Bits":"32"}. This record does not assert independent reproduction. ### PointLoc Position Error (m): 6.71. Result ID: 69953f4c3badfaffe628e9dd. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Training Time":"85h","Params":"13M"}. This record does not assert independent reproduction. ### PointLoc Position Error (m): 6.71. Result ID: 69de28e247f34ce924c6c352. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Method category":"APR"}. This record does not assert independent reproduction. ### PointLoc Position Error (m): 6.71. Result ID: 6a42169dfbc373592c86cb70. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Framework":"PointLoc","Method":"Real-valued","Bits":"32"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.