ResearchBenchmarksLocalization on Simulation CaseStudy-04Localization on Simulation CaseStudy-04Follow0.007ATE Translation [m]BIM-Loc-0.039920.276790.59350.91021Jun 12, 2026Evaluation resultsMethodMethodLinksATE Translation [m]ATE Rotation [deg]Scan-to-BIM Distance [m]BIM-Loc2026.060.0070.0930.008HBA2026.060.0160.1230.016DLO2026.060.0230.1430.022BALM22026.060.0310.1930.03SC-PGO2026.060.1450.6820.116HDLmode=local prior-map-b...mode=local prior-map-based pose correction, global initialization=disabled2026.061.181.6760.862