ResearchBenchmarksLocalization on Simulation CityU-01-F08Localization on Simulation CityU-01-F08Follow0.203ATE Translation (m)BIM-Loc-0.136442.154784.4466.73722Jun 12, 2026Evaluation resultsMethodMethodLinksATE Translation (m)ATE Rotation (deg)Scan-to-BIM Distance (m)BIM-Loc2026.060.2030.6220.153DLO2026.061.321.7010.932BALM22026.061.3292.2490.952SC-PGO2026.061.3333.381.059HBA2026.061.342.2960.948HDLmode=local prior-map-b...mode=local prior-map-based pose correction, global initialization=disabled2026.068.68972.296.967