SceneAligner: 3D-Grounded Floorplan Localization in the Wild

ArXi:2605.22581v1 Announce Type: new 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.