ResearchBenchmarksLocalization on HKUST Office 4F-Region3Follow0.045RMSE scan-to-BIM distance errorBIM-Loc0.044080.050290.05650.06271Jun 12, 2026Evaluation ResultsMethodMethodLinksRMSE scan-to-BIM distance errorBIM-Loc2026.060.045PALoc2026.060.061Fast-Loc2026.060.068