ResearchBenchmarksLocalization on Simulation CityU-01-F06Localization on Simulation CityU-01-F06Follow0.052ATE Translation (m)BIM-Loc-0.018760.458870.93651.41413Jun 12, 2026Evaluation resultsMethodMethodLinksATE Translation (m)ATE Rotation (deg)Scan-to-BIM Distance (m)BIM-Loc2026.060.0520.930.014HDLmode=local prior-map-b...mode=local prior-map-based pose correction, global initialization=disabled2026.060.2412.1180.175HBA2026.060.3343.5580.292DLO2026.060.3543.7620.314BALM22026.061.1616.3570.363SC-PGO2026.061.8214.531.74