ResearchBenchmarksLocalization on Simulation CityU-01-F10Localization on Simulation CityU-01-F10Follow0.014ATE Translation Error (m)BIM-Loc-0.005320.125090.25550.38591Jun 12, 2026Evaluation resultsMethodMethodLinksATE Translation Error (m)ATE Rotation Error (deg)Scan-to-BIM Distance Error (m)BIM-Loc2026.060.0140.1330.007HDLmode=local prior-map-b...mode=local prior-map-based pose correction, global initialization=disabled2026.060.1032.0140.127HBA2026.060.2911.1330.253DLO2026.060.3861.5540.327BALM22026.060.3961.7420.34SC-PGO2026.060.4973.1820.498