ResearchBenchmarksLocalization on HKUST Office 4F-Region2Follow0.047RMSE (scan-to-BIM distance)BIM-Loc0.046160.051830.05750.06317Jun 12, 2026Evaluation ResultsMethodMethodLinksRMSE (scan-to-BIM distance)BIM-Loc2026.060.047Fast-Loc2026.060.063PALoc2026.060.068