# GALoc: Gravity Aligned Wireframes for Depth-Free Monocular Floorplan Localization

arXiv: https://arxiv.org/abs/2609.08385 · HTML: https://mlsanity.com/paper/2609.08385/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 22 of its 36 references that are in the map.
- First posted on arXiv 8 Sep 2026.

## Builds on (most cited first, 22 of 22)

- [Gibson Env: Real-World Perception for Embodied Agents](https://mlsanity.com/paper/1808.10654/) (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)
- [Wide-Area Image Geolocalization with Aerial Reference Imagery](https://mlsanity.com/paper/1510.03743/) (2015)
- [AnyLoc: Towards Universal Visual Place Recognition](https://mlsanity.com/paper/2308.00688/) (2023)
- [Cross-View Image Matching for Geo-localization in Urban Environments](https://mlsanity.com/paper/1703.07815/) (2017)
- [Particle Filter Networks with Application to Visual Localization](https://mlsanity.com/paper/1805.08975/) (2018)
- [MeshLoc: Mesh-Based Visual Localization](https://mlsanity.com/paper/2207.10762/) (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)
- [General 3D Room Layout from a Single View by Render-and-Compare](https://mlsanity.com/paper/2001.02149/) (2020)
- [F3Loc: Fusion and Filtering for Floorplan Localization](https://mlsanity.com/paper/2403.03370/) (2024)
- [Long-Term Localization using Semantic Cues in Floor Plan Maps](https://mlsanity.com/paper/2210.01456/) (2022)
- [Floorplan-Jigsaw: Jointly Estimating Scene Layout and Aligning Partial Scans](https://mlsanity.com/paper/1812.06677/) (2018)
- [Fully Geometric Panoramic Localization](https://mlsanity.com/paper/2403.19904/) (2024)
- [Supercharging Floorplan Localization with Semantic Rays](https://mlsanity.com/paper/2507.09291/) (2025)
- [UnLoc: Leveraging Depth Uncertainties for Floorplan Localization](https://mlsanity.com/paper/2509.11301/) (2025)
- [Edge-Semantic Learning Strategy for Layout Estimation in Indoor Environment](https://mlsanity.com/paper/1901.00621/) (2019)
- [Polygon Detection for Room Layout Estimation using Heterogeneous Graphs and Wireframes](https://mlsanity.com/paper/2306.12203/) (2023)
- [Perspective from a Higher Dimension: Can 3D Geometric Priors Help Visual Floorplan Localization?](https://mlsanity.com/paper/2507.18881/) (2025)
- [PALMS+: Modular Image-Based Floor Plan Localization Leveraging Depth Foundation Model](https://mlsanity.com/paper/2511.09724/) (2025)

## Abstract (arXiv)

Floorplans are compact, appearance-invariant maps ideal for indoor localization, yet existing methods rely on depth networks that are brittle in cluttered scenes. We propose GALoc, a geometry-first framework that replaces depth prediction with gravity-aligned wireframes that satisfy verticality and coplanarity by construction. Given monocular RGB, camera intrinsics, relative poses, and IMU orientation, GALoc constructs a linear constraint matrix encoding verticality and coplanarity, and finds the camera gauge minimizing its smallest singular value via global search. The rectified wireframes are projected into bird's-eye-view layouts through a closed-form, FOV-consistent transformation and matched against the floorplan via metric-free SE(2) search. We evaluate end-to-end on Structured3D, with calibrated noise on Gibson, and on real-world author-collected sequences. When sufficient wall geometry is visible, GALoc matches or outperforms depth-based baselines -- achieving 88% sequential localization success at 0.1m over 100-step sequences on Gibson vs the baseline's 68% -- while abstaining in structure-blind scenes.