FlatLands: Generative Floormap Completion From a Single Egocentric View
A single egocentric image typically captures only a small portion of the floor, yet a complete metric traversability map of the surroundings would better serve applications such as indoor navigation. We introduce FlatLands, a dataset and benchmark for single-view bird's-eye view (BEV) floor completion. The dataset contains 270,575 observations from 17,656 real metric indoor scenes drawn from six existing datasets, with aligned observation, visibility, validity, and ground-truth BEV maps, and the benchmark includes both in- and out-of-distribution evaluation protocols. We compare training-free approaches, deterministic models, ensembles, and stochastic generative models. Finally, we instan...
| Authors | Subhransu S. Bhattacharjee, Dylan Campbell, Rahul Shome |
|---|---|
| Primary category | cs.CV |
| Published | 16 March 2026 |
| Last updated at source | 2 September 2026 |
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