ResearchBenchmarksMap Self-Consistency Evaluation on Boreas SkywayFollow1.29Translation RMSE (m)Dr-BA1.2021.7962.392.984May 7, 2026Evaluation ResultsMethodMethodLinksTranslation RMSE (m)Rotation RMSE (deg)Dr-BA2026.051.290.24Dr-PoGO2026.053.490.1