ResearchBenchmarksLocalization on Simulation CityU-01-F09Follow0.012ATE Translation (m)BIM-Loc-0.040080.311460.6631.01454Jun 12, 2026Evaluation ResultsMethodMethodLinksATE Translation (m)ATE Rotation (deg)Scan-to-BIM Distance (m)BIM-Loc2026.060.0120.2810.007HDLmode=local prior-map-b...mode=local prior-map-based pose correction, global initialization=disabled2026.060.1852.1920.145HBA2026.060.4131.9450.372DLO2026.060.4431.6280.403BALM22026.060.5972.3660.466SC-PGO2026.061.3142.3851.204