# F3Loc: Fusion and Filtering for Floorplan Localization

arXiv: https://arxiv.org/abs/2403.03370 · HTML: https://mlsanity.com/paper/2403.03370/

## Key facts

- Cited by 18 papers in the map (data through 14 Oct 2026).
- Builds on 29 of its 58 references that are in the map.
- First posted on arXiv 5 Mar 2024.

## Builds on (most cited first, 29 of 29)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [Vision Transformers for Dense Prediction](https://mlsanity.com/paper/2103.13413/) (2021)
- [Towards Robust Monocular Depth Estimation: Mixing Datasets for Zero-shot Cross-dataset Transfer](https://mlsanity.com/paper/1907.01341/) (2019)
- [Depth Map Prediction from a Single Image using a Multi-Scale Deep Network](https://mlsanity.com/paper/1406.2283/) (2014)
- [NetVLAD: CNN architecture for weakly supervised place recognition](https://mlsanity.com/paper/1511.07247/) (2015)
- [Unsupervised Monocular Depth Estimation with Left-Right Consistency](https://mlsanity.com/paper/1609.03677/) (2016)
- [MVSNet: Depth Inference for Unstructured Multi-view Stereo](https://mlsanity.com/paper/1804.02505/) (2018)
- [From Coarse to Fine: Robust Hierarchical Localization at Large Scale](https://mlsanity.com/paper/1812.03506/) (2018)
- [Predicting Depth, Surface Normals and Semantic Labels with a Common Multi-Scale Convolutional Architecture](https://mlsanity.com/paper/1411.4734/) (2014)
- [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)
- [Recurrent MVSNet for High-resolution Multi-view Stereo Depth Inference](https://mlsanity.com/paper/1902.10556/) (2019)
- [VIGOR: Cross-View Image Geo-localization beyond One-to-one Retrieval](https://mlsanity.com/paper/2011.12172/) (2020)
- [DeepV2D: Video to Depth with Differentiable Structure from Motion](https://mlsanity.com/paper/1812.04605/) (2018)
- [iGibson 1.0: a Simulation Environment for Interactive Tasks in Large Realistic Scenes](https://mlsanity.com/paper/2012.02924/) (2020)
- [Deep Stereo using Adaptive Thin Volume Representation with Uncertainty Awareness](https://mlsanity.com/paper/1911.12012/) (2019)
- [Image-based localization using LSTMs for structured feature correlation](https://mlsanity.com/paper/1611.07890/) (2016)
- [LaMAR: Benchmarking Localization and Mapping for Augmented Reality](https://mlsanity.com/paper/2210.10770/) (2022)
- [DeepTAM: Deep Tracking and Mapping](https://mlsanity.com/paper/1808.01900/) (2018)
- [OrienterNet: Visual Localization in 2D Public Maps with Neural Matching](https://mlsanity.com/paper/2304.02009/) (2023)
- [Rethinking Depth Estimation for Multi-View Stereo: A Unified Representation](https://mlsanity.com/paper/2201.01501/) (2022)
- [Particle Filter Networks with Application to Visual Localization](https://mlsanity.com/paper/1805.08975/) (2018)
- [Visual Cross-View Metric Localization with Dense Uncertainty Estimates](https://mlsanity.com/paper/2208.08519/) (2022)
- [LaLaLoc: Latent Layout Localisation in Dynamic, Unvisited Environments](https://mlsanity.com/paper/2104.09169/) (2021)
- [Robot Localization in Floor Plans Using a Room Layout Edge Extraction Network](https://mlsanity.com/paper/1903.01804/) (2019)
- [LASER: LAtent SpacE Rendering for 2D Visual Localization](https://mlsanity.com/paper/2204.00157/) (2022)
- [You Are Here: Geolocation by Embedding Maps and Images](https://mlsanity.com/paper/1911.08797/) (2019)

## Built on by (most cited first, 18 of 18)

- [Supercharging Floorplan Localization with Semantic Rays](https://mlsanity.com/paper/2507.09291/) (2025)
- [PolyRoom: Room-aware Transformer for Floorplan Reconstruction](https://mlsanity.com/paper/2407.10439/) (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)
- [CAGE: Continuity-Aware edGE Network Unlocks Robust Floorplan Reconstruction](https://mlsanity.com/paper/2509.15459/) (2025)
- [PALMS+: Modular Image-Based Floor Plan Localization Leveraging Depth Foundation Model](https://mlsanity.com/paper/2511.09724/) (2025)
- [NaVIP: An Image-Centric Indoor Navigation Solution for Visually Impaired People](https://mlsanity.com/paper/2410.18109/) (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)
- [PlanaReLoc: Camera Relocalization in 3D Planar Primitives via Region-Based Structure Matching](https://mlsanity.com/paper/2603.20818/) (2026)
- [Fusing Satellite Imagery and Planimetric Maps for Cross-View Localization](https://mlsanity.com/paper/2606.10166/) (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)

In this paper we propose an efficient data-driven solution to self-localization within a floorplan. Floorplan data is readily available, long-term persistent and inherently robust to changes in the visual appearance. Our method does not require retraining per map and location or demand a large database of images of the area of interest. We propose a novel probabilistic model consisting of an observation and a novel temporal filtering module. Operating internally with an efficient ray-based representation, the observation module consists of a single and a multiview module to predict horizontal depth from images and fuses their results to benefit from advantages offered by either methodology. Our method operates on conventional consumer hardware and overcomes a common limitation of competing methods that often demand upright images. Our full system meets real-time requirements, while outperforming the state-of-the-art by a significant margin.