ResearchBenchmarksLocalization on Simulation CityU-02-F08Localization on Simulation CityU-02-F08Follow0.011ATE Translation [m]BIM-Loc-0.866165.0546710.975516.89633Jun 12, 2026Evaluation resultsMethodMethodLinksATE Translation [m]ATE Rotation [deg]Scan-to-BIM Distance [m]BIM-Loc2026.060.0110.2950.024HBA2026.060.0570.640.053BALM22026.060.0940.7020.077DLO2026.060.10.660.098SC-PGO2026.064.6286.8624.399HDLmode=local prior-map-b...mode=local prior-map-based pose correction, global initialization=disabled2026.0621.9461.8117.24