ResearchBenchmarksLocalization on Simulation CaseStudy-02-2Localization on Simulation CaseStudy-02-2Follow0.034ATE Translation (m)BIM-Loc0.024960.085980.1470.20802Jun 12, 2026Evaluation resultsMethodMethodLinksATE Translation (m)ATE Rotation (deg)Scan-to-BIM Distance (m)BIM-Loc2026.060.0340.1870.011SC-PGO2026.060.1832.130.183HDLmode=local prior-map-b...mode=local prior-map-based pose correction, global initialization=disabled2026.060.2083.6540.199BALM22026.060.2090.9150.166HBA2026.060.241.2280.205DLO2026.060.261.3260.219