ResearchBenchmarksLocalization on HKUST Office 5F-Region2Follow0.039RMSE Scan-to-BIM Distance Error (m)BIM-Loc0.037920.045210.05250.05979Jun 12, 2026Evaluation ResultsMethodMethodLinksRMSE Scan-to-BIM Distance Error (m)BIM-Loc2026.060.039Fast-Loc2026.060.065PALoc2026.060.066