ResearchBenchmarksLocalization on Simulation CityU-01-F12Localization on Simulation CityU-01-F12Follow0.021ATE Translation (m)BIM-Loc-0.084920.630041.3452.05996Jun 12, 2026Evaluation resultsMethodMethodLinksATE Translation (m)ATE Rotation (deg)Scan-to-BIM Distance (m)BIM-Loc2026.060.0210.1880.008DLO2026.060.1290.9750.128HBA2026.060.1321.0720.131HDLmode=local prior-map-b...mode=local prior-map-based pose correction, global initialization=disabled2026.060.4033.2560.272BALM22026.060.5221.140.2SC-PGO2026.062.66910.711.652