ResearchBenchmarksMap Self-Consistency Evaluation on Boreas SuburbsFollow0.14Translation RMSE (m)Dr-BA0.1320.1860.240.294May 7, 2026Evaluation ResultsMethodMethodLinksTranslation RMSE (m)Rotation RMSE (deg)Dr-BA2026.050.140.09Dr-PoGO2026.050.340.11