The University of Hong Kong（香港大学）

BIM-Loc: BIM-Integrated Discrepancy-Aware LiDAR-based Indoor Localization

BIM-Loc：集成BIM的差异感知激光雷达室内定位

Yinqiang Zhang, Liang Lu, Yipeng Pan, Maolin Lei, Yuhan Xie, Zhanteng Xie, Xiaowei Luo, Jia Pan

机构 * Department of AI & Data Science, University of Hong Kong (HKU)（香港大学人工智能与数据科学系） ； Department of Architecture and Civil Engineering, City University of Hong Kong (CityU)（香港城市大学建筑与土木工程系） ； Humanoids and Human Centered Mechatronics Research Line, Italian Institute of Technology (IIT)（意大利技术研究院人形机器人与以人为本机电一体化研究组） 纠错

AI总结 提出BIM-Loc，一种直接集成建筑信息模型（BIM）的差异感知激光雷达定位方法，通过多命中射线投射、BIM集成因子位姿图优化和层次贝叶斯推断，实现与BIM坐标系对齐的轨迹估计和在线差异检测，显著提升定位精度与鲁棒性。

Comments 24 pages, 21 figures, accepted by International Journal of Robotics Research (IJRR), to be published

Journal ref The International Journal of Robotics Research, 2026