ResearchBenchmarksLocalization on Simulation CityU-01-F11Localization on Simulation CityU-01-F11Follow0.013ATE Translation (m)BIM-Loc-0.013120.163190.33950.51581Jun 12, 2026Evaluation resultsMethodMethodLinksATE Translation (m)ATE Rotation (deg)Scan-to-BIM Distance (m)BIM-Loc2026.060.0130.2330.007HDLmode=local prior-map-b...mode=local prior-map-based pose correction, global initialization=disabled2026.060.11120.119HBA2026.060.2921.2320.271DLO2026.060.3561.2220.331BALM22026.060.3731.4310.336SC-PGO2026.060.6663.2660.616