ResearchBenchmarksMap Self-Consistency Evaluation on Boreas IndustrialFollow0.1Translation RMSE (m)Dr-BA0.08960.15980.230.3002May 7, 2026Evaluation ResultsMethodMethodLinksTranslation RMSE (m)Rotation RMSE (deg)Dr-BA2026.050.10.1Dr-PoGO2026.050.360.18