ResearchBenchmarksLocalization on Simulation CityU-02-F07Localization on Simulation CityU-02-F07Follow0.018ATE Translation (m)BIM-Loc0.00820.074350.14050.20665Jun 12, 2026Evaluation resultsMethodMethodLinksATE Translation (m)ATE Rotation (deg)Scan-to-BIM Distance (m)BIM-Loc2026.060.0180.1770.01HBA2026.060.070.4460.064DLO2026.060.0780.4960.071SC-PGO2026.060.2061.1150.195HDLmode=local prior-map-b...mode=local prior-map-based pose correction, global initialization=disabled2026.060.2151.8080.182BALM22026.060.2630.8720.099