Preprint
Sep 2026
GALoc: Gravity Aligned Wireframes for Depth-Free Monocular Floorplan Localization
GALoc, a geometry-first framework that replaces depth prediction with gravity-aligned wireframes that satisfy verticality and coplanarity by construction, is proposed and evaluated end-to-end on Structured3D, with calibrated noise on Gibson, and on real-world author-collected sequences.
Jeahn Han, Minji Kim, Jeongbin Sohn et al.
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