ResearchBenchmarksLocalization on Simulation CityU-01-F07Localization on Simulation CityU-01-F07Follow0.008ATE Translation (m)BIM-Loc-0.020720.173140.3670.56086Jun 12, 2026Evaluation resultsMethodMethodLinksATE Translation (m)ATE Rotation (deg)Scan-to-BIM Distance (m)BIM-Loc2026.060.0080.1510.006HBA2026.060.4483.0840.389DLO2026.060.4711.5660.394BALM22026.060.4861.7230.411HDLmode=local prior-map-b...mode=local prior-map-based pose correction, global initialization=disabled2026.060.5744.0660.508SC-PGO2026.060.7262.0790.7