# CubiCasa5K: A Dataset and an Improved Multi-Task Model for Floorplan Image Analysis

arXiv: https://arxiv.org/abs/1904.01920 · HTML: https://mlsanity.com/paper/1904.01920/

## Key facts

- Cited by 50 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 3 Apr 2019.

## Built on by (most cited first, 30 of 50)

- [Habitat-Matterport 3D Dataset (HM3D): 1000 Large-scale 3D Environments for Embodied AI](https://mlsanity.com/paper/2109.08238/) (2021)
- [Ditto in the House: Building Articulation Models of Indoor Scenes through Interactive Perception](https://mlsanity.com/paper/2302.01295/) (2023)
- [MSD: A Benchmark Dataset for Floor Plan Generation of Building Complexes](https://mlsanity.com/paper/2407.10121/) (2024)
- [FloorplanQA: A Benchmark for Spatial Reasoning in LLMs using Structured Representations](https://mlsanity.com/paper/2507.07644/) (2025)
- [BIMgent: Towards Autonomous Building Modeling via Computer-use Agents](https://mlsanity.com/paper/2506.07217/) (2025)
- [ResPlan: A Large-Scale Vector-Graph Dataset of 17,000 Residential Floor Plans](https://mlsanity.com/paper/2508.14006/) (2025)
- [WAFFLE: Multimodal Floorplan Understanding in the Wild](https://mlsanity.com/paper/2412.00955/) (2024)
- [ArchCAD-400K: A Large-Scale CAD drawings Dataset and New Baseline for Panoptic Symbol Spotting](https://mlsanity.com/paper/2503.22346/) (2025)
- [FloorplanVLM: A Vision-Language Model for Floorplan Vectorization](https://mlsanity.com/paper/2602.06507/) (2026)
- [Automatic Reconstruction of Semantic 3D Models from 2D Floor Plans](https://mlsanity.com/paper/2306.01642/) (2023)
- [Arena 4.0: A Comprehensive ROS2 Development and Benchmarking Platform for Human-centric Navigation Using Generative-Model-based Environment Generation](https://mlsanity.com/paper/2409.12471/) (2024)
- [Computer-Aided Layout Generation for Building Design: A Review](https://mlsanity.com/paper/2504.09694/) (2025)
- [MapTrace: Scalable Data Generation for Route Tracing on Maps](https://mlsanity.com/paper/2512.19609/) (2025)
- [Parsing Line Segments of Floor Plan Images Using Graph Neural Networks](https://mlsanity.com/paper/2303.03851/) (2023)
- [MuraNet: Multi-task Floor Plan Recognition with Relation Attention](https://mlsanity.com/paper/2309.00348/) (2023)
- [What Is Near?: Room Locality Learning for Enhanced Robot Vision-Language-Navigation in Indoor Living Environments](https://mlsanity.com/paper/2309.05036/) (2023)
- [Uncertainty Estimation in Multi-Agent Distributed Learning for AI-Enabled Edge Devices](https://mlsanity.com/paper/2403.09141/) (2024)
- [Decentralized and Lifelong-Adaptive Multi-Agent Collaborative Learning](https://mlsanity.com/paper/2403.06535/) (2024)
- [VectorGraphNET: Graph Attention Networks for Accurate Segmentation of Complex Technical Drawings](https://mlsanity.com/paper/2410.01336/) (2024)
- [Edge AI Collaborative Learning: Bayesian Approaches to Uncertainty Estimation](https://mlsanity.com/paper/2410.08651/) (2024)
- [Pixels-to-Graph: Real-time Integration of Building Information Models and Scene Graphs for Semantic-Geometric Human-Robot Understanding](https://mlsanity.com/paper/2506.22593/) (2025)
- [DoorDet: Semi-Automated Multi-Class Door Detection Dataset via Object Detection and Large Language Models](https://mlsanity.com/paper/2508.07714/) (2025)
- [Automated Facility Enumeration for Building Compliance Checking using Door Detection and Large Language Models](https://mlsanity.com/paper/2509.17283/) (2025)
- [Raster2Seq: Polygon Sequence Generation for Floorplan Reconstruction](https://mlsanity.com/paper/2602.09016/) (2026)
- [Enhanced Object Detection in Floor-plan through Super Resolution](https://mlsanity.com/paper/2112.09844/) (2021)
- [The scope for AI-augmented interpretation of building blueprints in commercial and industrial property insurance](https://mlsanity.com/paper/2205.01671/) (2022)
- [A-Scan2BIM: Assistive Scan to Building Information Modeling](https://mlsanity.com/paper/2311.18166/) (2023)
- [Recognizing and Reconstructing a Multi-Unit Floor Plan](https://mlsanity.com/paper/2408.01526/) (2024)
- [Automatic Drywall Analysis for Progress Tracking and Quality Control in Construction](https://mlsanity.com/paper/2503.03422/) (2025)
- [BuildingBRep-11K: Precise Multi-Storey B-Rep Building Solids with Rich Layout Metadata](https://mlsanity.com/paper/2506.15718/) (2025)

## Abstract (arXiv)

Better understanding and modelling of building interiors and the emergence of more impressive AR/VR technology has brought up the need for automatic parsing of floorplan images. However, there is a clear lack of representative datasets to investigate the problem further. To address this shortcoming, this paper presents a novel image dataset called CubiCasa5K, a large-scale floorplan image dataset containing 5000 samples annotated into over 80 floorplan object categories. The dataset annotations are performed in a dense and versatile manner by using polygons for separating the different objects. Diverging from the classical approaches based on strong heuristics and low-level pixel operations, we present a method relying on an improved multi-task convolutional neural network. By releasing the novel dataset and our implementations, this study significantly boosts the research on automatic floorplan image analysis as it provides a richer set of tools for investigating the problem in a more comprehensive manner.