# LiDAR Localization on NCLT 2012-05-26 Source: [LiDAR Localization on NCLT 2012-05-26]() Collection index: [llms.txt]() Data updated: 2026-06-29T06:54:29.002Z Evaluation of LiDAR localization performance using the NCLT 2012-05-26 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 2012-05-26 | | Metric | Mean 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 - [Mean Position Error (m)](): Lower is better; unit: SCALAR. - [Mean Orientation Error (°)](): Lower is better; unit: SCALAR. ## Recorded results | Method | Mean Position Error (m) | Result date | Report paper | | --- | --- | --- | --- | | LEADER | 0.32 | Not recorded | 69ddca4d7d0172140ec79cf9 | | DiffLoc | 1.36 | Not recorded | 68fa778f1e209131cea73ea8 | | DiffLoc | 1.88 | Not recorded | 69ddca4d7d0172140ec79cf9 | | DiffLoc (Real-valued) | 1.88 | Not recorded | 6a41fc24206542251d7ccbfe | | HypLiLoc | 2.29 | Not recorded | 68fa778f1e209131cea73ea8 | | HypLiLoc | 2.9 | Not recorded | 69ddca4d7d0172140ec79cf9 | | HypLiLoc | 2.9 | Not recorded | 6a41fc24206542251d7ccbfe | | LightLoc | 3.1 | Not recorded | 68fa778f1e209131cea73ea8 | | LISA | 3.11 | Not recorded | 68fa778f1e209131cea73ea8 | | LiSA | 3.3 | Not recorded | 69ddca4d7d0172140ec79cf9 | | SGLoc | 3.48 | Not recorded | 68fa778f1e209131cea73ea8 | | RALoc | 3.51 | Not recorded | 69ddca4d7d0172140ec79cf9 | | SGLoc | 3.81 | Not recorded | 69ddca4d7d0172140ec79cf9 | | LightLoc | 3.99 | Not recorded | 69ddca4d7d0172140ec79cf9 | | NIDALoc | 6.32 | Not recorded | 68fa778f1e209131cea73ea8 | | BiLoc (Ours) | 6.52 | Not recorded | 6a41fc24206542251d7ccbfe | | DiffLoc (BHViT) | 6.86 | Not recorded | 6a41fc24206542251d7ccbfe | | STCLoc | 7.53 | Not recorded | 68fa778f1e209131cea73ea8 | | DiffLoc (BinaryViT) | 8.21 | Not recorded | 6a41fc24206542251d7ccbfe | | PosePN++ | 8.42 | Not recorded | 68fa778f1e209131cea73ea8 | | STCLoc | 8.67 | Not recorded | 6a41fc24206542251d7ccbfe | | PoseMinkLoc | 9.32 | Not recorded | 68fa778f1e209131cea73ea8 | | PointLoc | 9.55 | Not recorded | 68fa778f1e209131cea73ea8 | | PosePN++ | 9.59 | Not recorded | 69ddca4d7d0172140ec79cf9 | | PosePN++ | 9.59 | Not recorded | 6a41fc24206542251d7ccbfe | | PointLoc | 10.02 | Not recorded | 69ddca4d7d0172140ec79cf9 | | PointLoc | 10.02 | Not recorded | 6a41fc24206542251d7ccbfe | | PoseMinkLoc | 10.32 | Not recorded | 6a41fc24206542251d7ccbfe | | DiffLoc (ReActNet) | 10.72 | Not recorded | 6a41fc24206542251d7ccbfe | | PosePN | 12.32 | Not recorded | 68fa778f1e209131cea73ea8 | | PoseSOE | 12.6 | Not recorded | 6a41fc24206542251d7ccbfe | | PoseSOE | 13.27 | Not recorded | 68fa778f1e209131cea73ea8 | | PosePN | 13.47 | Not recorded | 6a41fc24206542251d7ccbfe | ### LEADER Mean Position Error (m): 0.32. Result ID: 69de28e247f34ce924c6c363. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Method category":"SCR"}. This record does not assert independent reproduction. ### DiffLoc Mean Position Error (m): 1.36. Result ID: 69953f4c3badfaffe628e9f1. [Reporting paper]() Recorded evaluation configuration: {"Training Time":"100h","Params":"40M"}. This record does not assert independent reproduction. ### DiffLoc Mean Position Error (m): 1.88. Result ID: 69de28e247f34ce924c6c35e. [Reporting paper]() Recorded evaluation configuration: {"Method category":"APR"}. This record does not assert independent reproduction. ### DiffLoc (Real-valued) Mean Position Error (m): 1.88. Result ID: 6a42169dfbc373592c86cb83. [Reporting paper]() Recorded evaluation configuration: {"Framework":"DiffLoc","Method":"Real-valued","Bits":"32"}. This record does not assert independent reproduction. ### HypLiLoc Mean Position Error (m): 2.29. Result ID: 69953f4c3badfaffe628e9f0. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Training Time":"12h","Params":"52M"}. This record does not assert independent reproduction. ### HypLiLoc Mean Position Error (m): 2.9. Result ID: 69de28e247f34ce924c6c35d. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Method category":"APR"}. This record does not assert independent reproduction. ### HypLiLoc Mean Position Error (m): 2.9. Result ID: 6a42169dfbc373592c86cb82. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Framework":"HypLiLoc","Method":"Real-valued","Bits":"32"}. This record does not assert independent reproduction. ### LightLoc Mean Position Error (m): 3.1. Result ID: 69953f4c3badfaffe628e9f4. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Training Time":"1h","Params":"23M"}. This record does not assert independent reproduction. ### LISA Mean Position Error (m): 3.11. Result ID: 69953f4c3badfaffe628e9f3. [Reporting paper]() Recorded evaluation configuration: {"Training Time":"44h","Params":"105M"}. This record does not assert independent reproduction. ### LiSA Mean Position Error (m): 3.3. Result ID: 69de28e247f34ce924c6c360. [Reporting paper]() Recorded evaluation configuration: {"Method category":"SCR"}. This record does not assert independent reproduction. ### SGLoc Mean Position Error (m): 3.48. Result ID: 69953f4c3badfaffe628e9f2. [Reporting paper]() Recorded evaluation configuration: {"Training Time":"42h","Params":"105M"}. This record does not assert independent reproduction. ### RALoc Mean Position Error (m): 3.51. Result ID: 69de28e247f34ce924c6c362. [Reporting paper]() Recorded evaluation configuration: {"Method category":"SCR"}. This record does not assert independent reproduction. ### SGLoc Mean Position Error (m): 3.81. Result ID: 69de28e247f34ce924c6c35f. [Reporting paper]() Recorded evaluation configuration: {"Method category":"SCR"}. This record does not assert independent reproduction. ### LightLoc Mean Position Error (m): 3.99. Result ID: 69de28e247f34ce924c6c361. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Method category":"SCR"}. This record does not assert independent reproduction. ### NIDALoc Mean Position Error (m): 6.32. Result ID: 69953f4c3badfaffe628e9ef. [Reporting paper]() Recorded evaluation configuration: {"Training Time":"14h","Params":"8M"}. This record does not assert independent reproduction. ### BiLoc (Ours) Mean Position Error (m): 6.52. Result ID: 6a42169dfbc373592c86cb87. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Framework":"DiffLoc","Method":"Ours","Bits":"1"}. This record does not assert independent reproduction. ### DiffLoc (BHViT) Mean Position Error (m): 6.86. Result ID: 6a42169dfbc373592c86cb86. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Framework":"DiffLoc","Method":"BHViT","Bits":"1"}. This record does not assert independent reproduction. ### STCLoc Mean Position Error (m): 7.53. Result ID: 69953f4c3badfaffe628e9ee. [Reporting paper]() Recorded evaluation configuration: {"Training Time":"14h","Params":"9M"}. This record does not assert independent reproduction. ### DiffLoc (BinaryViT) Mean Position Error (m): 8.21. Result ID: 6a42169dfbc373592c86cb85. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Framework":"DiffLoc","Method":"BinaryViT","Bits":"1"}. This record does not assert independent reproduction. ### PosePN++ Mean Position Error (m): 8.42. Result ID: 69953f4c3badfaffe628e9eb. [Reporting paper]() Recorded evaluation configuration: {"Training Time":"8h","Params":"5M"}. This record does not assert independent reproduction. ### STCLoc Mean Position Error (m): 8.67. Result ID: 6a42169dfbc373592c86cb81. [Reporting paper]() Recorded evaluation configuration: {"Framework":"STCLoc","Method":"Real-valued","Bits":"32"}. This record does not assert independent reproduction. ### PoseMinkLoc Mean Position Error (m): 9.32. Result ID: 69953f4c3badfaffe628e9ec. [Reporting paper]() Recorded evaluation configuration: {"Training Time":"5h","Params":"13M"}. This record does not assert independent reproduction. ### PointLoc Mean Position Error (m): 9.55. Result ID: 69953f4c3badfaffe628e9e9. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Training Time":"85h","Params":"13M"}. This record does not assert independent reproduction. ### PosePN++ Mean Position Error (m): 9.59. Result ID: 69de28e247f34ce924c6c35c. [Reporting paper]() Recorded evaluation configuration: {"Method category":"APR"}. This record does not assert independent reproduction. ### PosePN++ Mean Position Error (m): 9.59. Result ID: 6a42169dfbc373592c86cb7e. [Reporting paper]() Recorded evaluation configuration: {"Framework":"PosePN++","Method":"Real-valued","Bits":"32"}. This record does not assert independent reproduction. ### PointLoc Mean Position Error (m): 10.02. Result ID: 69de28e247f34ce924c6c35b. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Method category":"APR"}. This record does not assert independent reproduction. ### PointLoc Mean Position Error (m): 10.02. Result ID: 6a42169dfbc373592c86cb7c. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Framework":"PointLoc","Method":"Real-valued","Bits":"32"}. This record does not assert independent reproduction. ### PoseMinkLoc Mean Position Error (m): 10.32. Result ID: 6a42169dfbc373592c86cb7f. [Reporting paper]() Recorded evaluation configuration: {"Framework":"PoseMinkLoc","Method":"Real-valued","Bits":"32"}. This record does not assert independent reproduction. ### DiffLoc (ReActNet) Mean Position Error (m): 10.72. Result ID: 6a42169dfbc373592c86cb84. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Framework":"DiffLoc","Method":"ReActNet","Bits":"1"}. This record does not assert independent reproduction. ### PosePN Mean Position Error (m): 12.32. Result ID: 69953f4c3badfaffe628e9ea. [Reporting paper]() Recorded evaluation configuration: {"Training Time":"3h","Params":"4M"}. This record does not assert independent reproduction. ### PoseSOE Mean Position Error (m): 12.6. Result ID: 6a42169dfbc373592c86cb80. [Reporting paper]() Recorded evaluation configuration: {"Framework":"PoseSOE","Method":"Real-valued","Bits":"32"}. This record does not assert independent reproduction. ### PoseSOE Mean Position Error (m): 13.27. Result ID: 69953f4c3badfaffe628e9ed. [Reporting paper]() Recorded evaluation configuration: {"Training Time":"10h","Params":"5M"}. This record does not assert independent reproduction. ### PosePN Mean Position Error (m): 13.47. Result ID: 6a42169dfbc373592c86cb7d. [Reporting paper]() Recorded evaluation configuration: {"Framework":"PosePN","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.