BIM-Loc: BIM-integrated discrepancy-aware LiDAR-based indoor localization

Yinqiang Zhang, Liang Lu, Yipeng Pan, Maolin Lei, Yuhan Xie, Zhanteng Xie, Xiaowei Luo, Jia Pan, School of Computing and Data Science, University of Hong Kong , Hong Kong, Humanoids and Human Centered Mechatronics Research Line, Italian Institute of Technology , Department of Architecture and Civil Engineering, City University of Hong Kong , Hong Kong

The International Journal of Robotics Research

Published online on July 06, 2026

Abstract

The International Journal of Robotics Research, Ahead of Print.
Accurate and robust localization is a fundamental requirement for service and inspection robots, particularly in feature-sparse indoor environments where traditional systems struggle due to a lack of distinct landmarks. While prior maps can enhance ...