ResearchBenchmarksLocalization on Simulation CaseStudy-06Localization on Simulation CaseStudy-06Follow0.043ATE Translation (m)BIM-Loc0.036960.077730.11850.15927Jun 12, 2026Evaluation resultsMethodMethodLinksATE Translation (m)ATE Rotation (deg)Scan-to-BIM Distance (m)BIM-Loc2026.060.0430.3230.023DLO2026.060.0650.9210.057BALM22026.060.0741.0460.068HBA2026.060.0871.4090.075SC-PGO2026.060.1612.0580.171HDLmode=local prior-map-b...mode=local prior-map-based pose correction, global initialization=disabled2026.060.1943.4360.232