ResearchBenchmarksLocalization on HKUST Office 3F-Region3Follow0.044RMSE scan-to-BIM distance error (m)BIM-Loc0.043080.049290.05550.06171Jun 12, 2026Evaluation ResultsMethodMethodLinksRMSE scan-to-BIM distance error (m)BIM-Loc2026.060.044PALoc2026.060.061Fast-Loc2026.060.067