ResearchBenchmarksGeometric Accuracy Assessment of Reconstructed Maps on Classroom Hallway scenarioGeometric Accuracy Assessment of Reconstructed Maps on Classroom Hallway scenarioFollow5.73Distance Error (cm)YOLO5.3447.949510.55513.1605Mar 20, 2026Evaluation resultsMethodMethodLinksDistance Error (cm)Angle Error (deg)YOLOmodel_variant=YOLOv8n-obbmodel_variant=YOLOv8n-obb2026.035.731.12Hough2026.0310.170.95LSD2026.0315.380.73