ResearchBenchmarksLocalization on HKUST Office 4F-Region1Follow0.044RMSE scan-to-BIM distance error (m)BIM-Loc0.041680.057340.0730.08866Jun 12, 2026Evaluation ResultsMethodMethodLinksRMSE scan-to-BIM distance error (m)BIM-Loc2026.060.044PALoc2026.060.073Fast-Loc2026.060.102