SceneAligner: 3D-Grounded Floorplan Localization in the Wild

Many public buildings provide floorplans with a "you are here" indicator to help visitors orient themselves. Floorplan localization seeks to computationally replicate this capability by determining where visual observations were captured within a floorplan. However, existing methods typically assume controlled small-scale environments and precise vectorized floorplans, limiting their ability to operate in large-scale buildings and rasterized floorplans. In this work, we present an approach for performing floorplan localization in the wild by grounding the task in a reconstructed 3D representation of the scene. Given an unconstrained image collection, our method reconstructs a gravity-alig...

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