diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 0baa6bbe..bc56c074 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -90,4 +90,5 @@ jobs:
               --output_dir outputs/quickstart_test --visualize 0
           python runners/hypersim/triangulation.py --default_config_file cfgs/triangulation/default_fast.yaml \
               --output_dir outputs/quickstart_test --triangulation.use_exhaustive_matcher --skip_exists --visualize 0
+          python runners/tests/localization.py
 
diff --git a/runners/tests/localization.py b/runners/tests/localization.py
index 2eb1fcec..b8c13c99 100644
--- a/runners/tests/localization.py
+++ b/runners/tests/localization.py
@@ -132,17 +132,21 @@ def main():
     log += f"GT Pose (qvec, tvec): \
              {data['pose_gt'].qvec}, {data['pose_gt'].tvec}\n\n"
 
-    R, t = final_pose.R(), final_pose.tvec
+    R, t = data["pose_point"].R(), data["pose_point"].tvec
     e_t = np.linalg.norm(-R_gt.T @ t_gt + R.T @ t, axis=0)
     cos = np.clip((np.trace(np.dot(R_gt.T, R)) - 1) / 2, -1.0, 1.0)
     e_R = np.rad2deg(np.abs(np.arccos(cos)))
-    log += f"Result(P+L) Pose errors: {e_t:.3f}m, {e_R:.3f}deg\n"
+    log += f"HLoc(Point) Pose errors: {e_t:.3f}m, {e_R:.3f}deg\n"
+    np.testing.assert_(e_t < 0.5, f"e_t = {e_t:.3f}m")
+    np.testing.assert_(e_R < 2.0, f"e_R = {e_R:.3f}deg")
 
-    R, t = data["pose_point"].R(), data["pose_point"].tvec
+    R, t = final_pose.R(), final_pose.tvec
     e_t = np.linalg.norm(-R_gt.T @ t_gt + R.T @ t, axis=0)
     cos = np.clip((np.trace(np.dot(R_gt.T, R)) - 1) / 2, -1.0, 1.0)
     e_R = np.rad2deg(np.abs(np.arccos(cos)))
-    log += f"HLoc(Point) Pose errors: {e_t:.3f}m, {e_R:.3f}deg"
+    log += f"Result(P+L) Pose errors: {e_t:.3f}m, {e_R:.3f}deg"
+    np.testing.assert_(e_t < 0.1, f"e_t = {e_t:.3f}m")
+    np.testing.assert_(e_R < 2.0, f"e_R = {e_R:.3f}deg")
 
     logger.info(log)