ResearchBenchmarksMap Self-Consistency Evaluation on Boreas ForestFollow0.52Translation RMSE (m)Dr-BA0.5180.53150.5450.5585May 7, 2026Evaluation ResultsMethodMethodLinksTranslation RMSE (m)Rotation RMSE (deg)Dr-BA2026.050.520.12Dr-PoGO2026.050.570.12