ResearchBenchmarksLocalization on Simulation CaseStudy-02-1Localization on Simulation CaseStudy-02-1Follow0.029ATE Translation [m]BIM-Loc0.020920.075460.130.18454Jun 12, 2026Evaluation resultsMethodMethodLinksATE Translation [m]ATE Rotation [deg]Scan-to-BIM Distance [m]BIM-Loc2026.060.0290.7190.015HBA2026.060.1730.90.155DLO2026.060.1881.0980.168BALM22026.060.1931.210.16SC-PGO2026.060.1931.8360.182HDLmode=local prior-map-b...mode=local prior-map-based pose correction, global initialization=disabled2026.060.2317.2530.241