ResearchBenchmarksLocalization on HKUST Office 5F-Region1Follow0.054RMSE Scan-to-BIM Distance Error (m)BIM-Loc0.052760.061130.06950.07787Jun 12, 2026Evaluation ResultsMethodMethodLinksRMSE Scan-to-BIM Distance Error (m)BIM-Loc2026.060.054PALoc2026.060.067Fast-Loc2026.060.085