ResearchBenchmarksLocalization on Simulation CaseStudy-05Localization on Simulation CaseStudy-05Follow0.008ATE Translation (m)BIM-Loc-0.003720.075390.15450.23361Jun 12, 2026Evaluation resultsMethodMethodLinksATE Translation (m)ATE Rotation (deg)Scan-to-BIM Distance (m)BIM-Loc2026.060.0080.1240.008DLO2026.060.0080.1790.009HBA2026.060.010.1750.011BALM22026.060.0170.8640.027SC-PGO2026.060.2871.9690.285HDLmode=local prior-map-b...mode=local prior-map-based pose correction, global initialization=disabled2026.060.30117.130.381