# LaLaLoc: Latent Layout Localisation in Dynamic, Unvisited Environments

arXiv: https://arxiv.org/abs/2104.09169 · HTML: https://mlsanity.com/paper/2104.09169/

## Key facts

- Cited by 29 papers in the map (data through 14 Oct 2026).
- Builds on 20 of its 47 references that are in the map.
- First posted on arXiv 19 Apr 2021.

## Builds on (most cited first, 20 of 20)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [Distilling the Knowledge in a Neural Network](https://mlsanity.com/paper/1503.02531/) (2015)
- [NetVLAD: CNN architecture for weakly supervised place recognition](https://mlsanity.com/paper/1511.07247/) (2015)
- [From Coarse to Fine: Robust Hierarchical Localization at Large Scale](https://mlsanity.com/paper/1812.03506/) (2018)
- [Structured3D: A Large Photo-realistic Dataset for Structured 3D Modeling](https://mlsanity.com/paper/1908.00222/) (2019)
- [DSAC - Differentiable RANSAC for Camera Localization](https://mlsanity.com/paper/1611.05705/) (2016)
- [Geometric Loss Functions for Camera Pose Regression with Deep Learning](https://mlsanity.com/paper/1704.00390/) (2017)
- [Learning to Predict 3D Objects with an Interpolation-based Differentiable Renderer](https://mlsanity.com/paper/1908.01210/) (2019)
- [Understanding the Limitations of CNN-based Absolute Camera Pose Regression](https://mlsanity.com/paper/1903.07504/) (2019)
- [Geometry-Aware Learning of Maps for Camera Localization](https://mlsanity.com/paper/1712.03342/) (2017)
- [Learning Less is More - 6D Camera Localization via 3D Surface Regression](https://mlsanity.com/paper/1711.10228/) (2017)
- [HorizonNet: Learning Room Layout with 1D Representation and Pano Stretch Data Augmentation](https://mlsanity.com/paper/1901.03861/) (2019)
- [Expert Sample Consensus Applied to Camera Re-Localization](https://mlsanity.com/paper/1908.02484/) (2019)
- [Deep Metric Learning Beyond Binary Supervision](https://mlsanity.com/paper/1904.09626/) (2019)
- [Beyond Controlled Environments: 3D Camera Re-Localization in Changing Indoor Scenes](https://mlsanity.com/paper/2008.02004/) (2020)
- [Robot Localization in Floor Plans Using a Room Layout Edge Extraction Network](https://mlsanity.com/paper/1903.01804/) (2019)
- [General 3D Room Layout from a Single View by Render-and-Compare](https://mlsanity.com/paper/2001.02149/) (2020)
- [Thinking Outside the Box: Generation of Unconstrained 3D Room Layouts](https://mlsanity.com/paper/1905.03105/) (2019)
- [Precise Robot Localization in Architectural 3D Plans](https://mlsanity.com/paper/2006.05137/) (2020)

## Built on by (most cited first, 29 of 29)

- [OrienterNet: Visual Localization in 2D Public Maps with Neural Matching](https://mlsanity.com/paper/2304.02009/) (2023)
- [SliceMatch: Geometry-guided Aggregation for Cross-View Pose Estimation](https://mlsanity.com/paper/2211.14651/) (2022)
- [Convolutional Cross-View Pose Estimation](https://mlsanity.com/paper/2303.05915/) (2023)
- [FG2: Fine-Grained Cross-View Localization by Fine-Grained Feature Matching](https://mlsanity.com/paper/2503.18725/) (2025)
- [LASER: LAtent SpacE Rendering for 2D Visual Localization](https://mlsanity.com/paper/2204.00157/) (2022)
- [F3Loc: Fusion and Filtering for Floorplan Localization](https://mlsanity.com/paper/2403.03370/) (2024)
- [Fully Geometric Panoramic Localization](https://mlsanity.com/paper/2403.19904/) (2024)
- [Supercharging Floorplan Localization with Semantic Rays](https://mlsanity.com/paper/2507.09291/) (2025)
- [FloNa: Floor Plan Guided Embodied Visual Navigation](https://mlsanity.com/paper/2412.18335/) (2024)
- [UnLoc: Leveraging Depth Uncertainties for Floorplan Localization](https://mlsanity.com/paper/2509.11301/) (2025)
- [SPVLoc: Semantic Panoramic Viewport Matching for 6D Camera Localization in Unseen Environments](https://mlsanity.com/paper/2404.10527/) (2024)
- [Perspective from a Higher Dimension: Can 3D Geometric Priors Help Visual Floorplan Localization?](https://mlsanity.com/paper/2507.18881/) (2025)
- [CPO: Change Robust Panorama to Point Cloud Localization](https://mlsanity.com/paper/2207.05317/) (2022)
- [PALMS+: Modular Image-Based Floor Plan Localization Leveraging Depth Foundation Model](https://mlsanity.com/paper/2511.09724/) (2025)
- [Floorplan-Aware Camera Poses Refinement](https://mlsanity.com/paper/2210.04572/) (2022)
- [PALMS: Plane-based Accessible Indoor Localization Using Mobile Smartphones](https://mlsanity.com/paper/2410.15694/) (2024)
- [Perspective from a Broader Context: Can Room Style Knowledge Help Visual Floorplan Localization?](https://mlsanity.com/paper/2508.01216/) (2025)
- [DisCo-FLoc: Semantic-Free Floorplan Localization via SE(2)-Aware Contrastive Disambiguation](https://mlsanity.com/paper/2601.01822/) (2026)
- [SceneAligner: 3D-Grounded Floorplan Localization in the Wild](https://mlsanity.com/paper/2605.22581/) (2026)
- [Z-FLoc: Zero-Shot Floorplan Localization via Geometric Primitives](https://mlsanity.com/paper/2606.04788/) (2026)
- [PlanaReLoc: Camera Relocalization in 3D Planar Primitives via Region-Based Structure Matching](https://mlsanity.com/paper/2603.20818/) (2026)
- [COMPASS: COmpact Multi-channel Prior-map And Scene Signature for Floor-Plan-Based Visual Localization](https://mlsanity.com/paper/2604.25388/) (2026)
- [Fusing Satellite Imagery and Planimetric Maps for Cross-View Localization](https://mlsanity.com/paper/2606.10166/) (2026)
- [From Uncertainty to Determinism: Coarse-to-Fine Visual Floorplan Localization without Ray Matching](https://mlsanity.com/paper/2607.26817/) (2026)
- [AutoCompass: Accurate Visual Localization on Public Maps by Learning from Weak Labels](https://mlsanity.com/paper/2609.02798/) (2026)
- [GALoc: Gravity Aligned Wireframes for Depth-Free Monocular Floorplan Localization](https://mlsanity.com/paper/2609.08385/) (2026)
- [Multimodal Floorplan Encoding: Learning Dense Modality-Invariant Representations](https://mlsanity.com/paper/2609.12723/) (2026)
- [SlugTrails: An Egocentric Benchmark for Floor Plan Localization in Large Buildings](https://mlsanity.com/paper/2609.19876/) (2026)
- [FreeLoc: Online Floorplan Localization via Diffusion-Aided Pose Refinement](https://mlsanity.com/paper/2610.05011/) (2026)

## Abstract (arXiv)

We present LaLaLoc to localise in environments without the need for prior visitation, and in a manner that is robust to large changes in scene appearance, such as a full rearrangement of furniture. Specifically, LaLaLoc performs localisation through latent representations of room layout. LaLaLoc learns a rich embedding space shared between RGB panoramas and layouts inferred from a known floor plan that encodes the structural similarity between locations. Further, LaLaLoc introduces direct, cross-modal pose optimisation in its latent space. Thus, LaLaLoc enables fine-grained pose estimation in a scene without the need for prior visitation, as well as being robust to dynamics, such as a change in furniture configuration. We show that in a domestic environment LaLaLoc is able to accurately localise a single RGB panorama image to within 8.3cm, given only a floor plan as a prior.