ResearchBenchmarksLocalization on Simulation CityU-02-F12Localization on Simulation CityU-02-F12Follow0.008ATE Translation (m)BIM-Loc-0.740884.314069.36914.42394Jun 12, 2026Evaluation resultsMethodMethodLinksATE Translation (m)ATE Rotation (deg)Scan-to-BIM Distance (m)BIM-Loc2026.060.0080.1770.008HBA2026.060.0750.3760.069DLO2026.060.1070.4180.1BALM22026.060.1980.4870.117SC-PGO2026.060.2821.4220.272HDLmode=local prior-map-b...mode=local prior-map-based pose correction, global initialization=disabled2026.0618.73100.519.36