ResearchBenchmarksLocalization on Simulation CaseStudy-01Localization on Simulation CaseStudy-01Follow0.011ATE Translation (m)BIM-Loc0.001960.062980.1240.18502Jun 12, 2026Evaluation resultsMethodMethodLinksATE Translation (m)ATE Rotation (deg)Scan-to-BIM Distance (m)BIM-Loc2026.060.0110.1470.009HDLmode=local prior-map-b...mode=local prior-map-based pose correction, global initialization=disabled2026.060.1572.4690.142DLO2026.060.1740.8470.158HBA2026.060.1810.7660.163SC-PGO2026.060.2031.9160.189BALM22026.060.2371.5950.222