ResearchBenchmarksLocalization on Simulation CityU-02-F10Localization on Simulation CityU-02-F10Follow0.009ATE Translation (m)BIM-Loc-0.623043.643237.909512.17577Jun 12, 2026Evaluation resultsMethodMethodLinksATE Translation (m)ATE Rotation (deg)Scan-to-BIM Distance (m)BIM-Loc2026.060.0090.1210.009HBA2026.060.0410.2850.035BALM22026.060.0780.3640.066DLO2026.060.0950.4240.09SC-PGO2026.060.1710.7750.17HDLmode=local prior-map-b...mode=local prior-map-based pose correction, global initialization=disabled2026.0615.8167.4713.56