ResearchBenchmarksLocalization on HKUST Office 3F-Region1Follow0.052RMSE Scan-to-BIM Distance Error (m)BIM-Loc0.0510.057750.06450.07125Jun 12, 2026Evaluation ResultsMethodMethodLinksRMSE Scan-to-BIM Distance Error (m)BIM-Loc2026.060.052Fast-Loc2026.060.067PALoc2026.060.077