ResearchBenchmarksLocalization on Simulation Office-02Localization on Simulation Office-02Follow0.037ATE Translation (m)BIM-Loc-1.365528.1014917.568527.03551Jun 12, 2026Evaluation resultsMethodMethodLinksATE Translation (m)ATE Rotation (deg)Scan-to-BIM Distance (m)BIM-Loc2026.060.0370.1150.007HBA2026.060.2980.480.25DLO2026.060.3831.0720.356BALM22026.060.422.4320.37SC-PGO2026.061.0293.5020.967HDLmode=local prior-map-b...mode=local prior-map-based pose correction, global initialization=disabled2026.0635.1168.930.35