ResearchBenchmarksLocalization on Office-01 SimulationLocalization on Office-01 SimulationFollow0.018ATE Translation (m)BIM-Loc-0.003360.140820.2850.42918Jun 12, 2026Evaluation resultsMethodMethodLinksATE Translation (m)ATE Rotation (deg)Scan-to-BIM Distance (m)BIM-Loc2026.060.0180.2450.009HDLmode=local prior-map-b...mode=local prior-map-based pose correction, global initialization=disabled2026.060.1553.8230.167HBA2026.060.2311.6150.207DLO2026.060.2651.4180.237BALM22026.060.2921.5580.269SC-PGO2026.060.5523.640.535