ResearchBenchmarksLocalization on HKUST Office 3F-Region2Follow0.037RMSE Scan-to-BIM Distance (m)BIM-Loc0.035880.043440.0510.05856Jun 12, 2026Evaluation ResultsMethodMethodLinksRMSE Scan-to-BIM Distance (m)BIM-Loc2026.060.037Fast-Loc2026.060.062PALoc2026.060.065