# Floor-SP: Inverse CAD for Floorplans by Sequential Room-wise Shortest Path

arXiv: https://arxiv.org/abs/1908.06702 · HTML: https://mlsanity.com/paper/1908.06702/

## Key facts

- Cited by 36 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 19 Aug 2019.

## Built on by (most cited first, 30 of 36)

- [SceneScript: Reconstructing Scenes With An Autoregressive Structured Language Model](https://mlsanity.com/paper/2403.13064/) (2024)
- [HouseDiffusion: Vector Floorplan Generation via a Diffusion Model with Discrete and Continuous Denoising](https://mlsanity.com/paper/2211.13287/) (2022)
- [Connecting the Dots: Floorplan Reconstruction Using Two-Level Queries](https://mlsanity.com/paper/2211.15658/) (2022)
- [PolyDiffuse: Polygonal Shape Reconstruction via Guided Set Diffusion Models](https://mlsanity.com/paper/2306.01461/) (2023)
- [HEAT: Holistic Edge Attention Transformer for Structured Reconstruction](https://mlsanity.com/paper/2111.15143/) (2021)
- [MonteFloor: Extending MCTS for Reconstructing Accurate Large-Scale Floor Plans](https://mlsanity.com/paper/2103.11161/) (2021)
- [House-GAN++: Generative Adversarial Layout Refinement Networks](https://mlsanity.com/paper/2103.02574/) (2021)
- [PSMNet: Position-aware Stereo Merging Network for Room Layout Estimation](https://mlsanity.com/paper/2203.15965/) (2022)
- [PolyRoom: Room-aware Transformer for Floorplan Reconstruction](https://mlsanity.com/paper/2407.10439/) (2024)
- [360-DFPE: Leveraging Monocular 360-Layouts for Direct Floor Plan Estimation](https://mlsanity.com/paper/2112.06180/) (2021)
- [Chat2Map: Efficient Scene Mapping from Multi-Ego Conversations](https://mlsanity.com/paper/2301.02184/) (2023)
- [Structured Outdoor Architecture Reconstruction by Exploration and Classification](https://mlsanity.com/paper/2108.07990/) (2021)
- [FRI-Net: Floorplan Reconstruction via Room-wise Implicit Representation](https://mlsanity.com/paper/2407.10687/) (2024)
- [QueSTMaps: Queryable Semantic Topological Maps for 3D Scene Understanding](https://mlsanity.com/paper/2404.06442/) (2024)
- [Walk2Map: Extracting Floor Plans from Indoor Walk Trajectories](https://mlsanity.com/paper/2103.00262/) (2021)
- [Floorplan Restoration by Structure Hallucinating Transformer Cascades](https://mlsanity.com/paper/2206.00645/) (2022)
- [MCTS with Refinement for Proposals Selection Games in Scene Understanding](https://mlsanity.com/paper/2207.03204/) (2022)
- [CropCraft: Complete Structural Characterization of Crop Plants From Images](https://mlsanity.com/paper/2411.09693/) (2024)
- [CAGE: Continuity-Aware edGE Network Unlocks Robust Floorplan Reconstruction](https://mlsanity.com/paper/2509.15459/) (2025)
- [SALVe: Semantic Alignment Verification for Floorplan Reconstruction from Sparse Panoramas](https://mlsanity.com/paper/2406.19390/) (2024)
- [BADGR: Bundle Adjustment Diffusion Conditioned by GRadients for Wide-Baseline Floor Plan Reconstruction](https://mlsanity.com/paper/2503.19340/) (2025)
- [PixCuboid: Room Layout Estimation from Multi-view Featuremetric Alignment](https://mlsanity.com/paper/2508.04659/) (2025)
- [FloorPP-Net: Reconstructing Floor Plans using Point Pillars for Scan-to-BIM](https://mlsanity.com/paper/2106.10635/) (2021)
- [FloorGenT: Generative Vector Graphic Model of Floor Plans for Robotics](https://mlsanity.com/paper/2203.03385/) (2022)
- [FloorSAM: SAM-Guided Floorplan Reconstruction with Semantic-Geometric Fusion](https://mlsanity.com/paper/2509.15750/) (2025)
- [HouseLayout3D: A Benchmark and Training-Free Baseline for 3D Layout Estimation in the Wild](https://mlsanity.com/paper/2512.02450/) (2025)
- [Raster2Seq: Polygon Sequence Generation for Floorplan Reconstruction](https://mlsanity.com/paper/2602.09016/) (2026)
- [SceneAligner: 3D-Grounded Floorplan Localization in the Wild](https://mlsanity.com/paper/2605.22581/) (2026)
- [CornerFormer: Boosting Corner Representation for Fine-Grained Structured Reconstruction](https://mlsanity.com/paper/2304.07072/) (2023)
- [A-Scan2BIM: Assistive Scan to Building Information Modeling](https://mlsanity.com/paper/2311.18166/) (2023)

## Abstract (arXiv)

This paper proposes a new approach for automated floorplan reconstruction from RGBD scans, a major milestone in indoor mapping research. The approach, dubbed Floor-SP, formulates a novel optimization problem, where room-wise coordinate descent sequentially solves dynamic programming to optimize the floorplan graph structure. The objective function consists of data terms guided by deep neural networks, consistency terms encouraging adjacent rooms to share corners and walls, and the model complexity term. The approach does not require corner/edge detection with thresholds, unlike most other methods. We have evaluated our system on production-quality RGBD scans of 527 apartments or houses, including many units with non-Manhattan structures. Qualitative and quantitative evaluations demonstrate a significant performance boost over the current state-of-the-art. Please refer to our project website http://jcchen.me/floor-sp/ for code and data.