{"id":"https://openalex.org/W7163557859","doi":"https://doi.org/10.48550/arxiv.2606.04788","title":"Z-FLoc: Zero-Shot Floorplan Localization via Geometric Primitives","display_name":"Z-FLoc: Zero-Shot Floorplan Localization via Geometric Primitives","publication_year":2026,"publication_date":"2026-06-03","ids":{"openalex":"https://openalex.org/W7163557859","doi":"https://doi.org/10.48550/arxiv.2606.04788"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.04788","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.04788","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.04788","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5022978757","display_name":"Ayumi Umemura","orcid":"https://orcid.org/0009-0003-5555-3841"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Umemura, Ayumi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039088371","display_name":"Toshinori Kuwahara","orcid":"https://orcid.org/0000-0003-3629-5173"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kuwahara, Toshinori","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137814472","display_name":"Marc Pollefeys","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pollefeys, Marc","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5137825464","display_name":"Daniel Barath","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Barath, Daniel","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.5396000146865845,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.5396000146865845,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.2985000014305115,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.048900000751018524,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/floorplan","display_name":"Floorplan","score":0.7878999710083008},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.4765999913215637},{"id":"https://openalex.org/keywords/geometric-primitive","display_name":"Geometric primitive","score":0.4528000056743622},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.4456000030040741},{"id":"https://openalex.org/keywords/aerial-imagery","display_name":"Aerial imagery","score":0.41780000925064087},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.40369999408721924},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.3919999897480011},{"id":"https://openalex.org/keywords/limiting","display_name":"Limiting","score":0.35280001163482666},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.3425999879837036}],"concepts":[{"id":"https://openalex.org/C130145326","wikidata":"https://www.wikidata.org/wiki/Q1553985","display_name":"Floorplan","level":2,"score":0.7878999710083008},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7013000249862671},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5857999920845032},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5753999948501587},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.4765999913215637},{"id":"https://openalex.org/C181095308","wikidata":"https://www.wikidata.org/wiki/Q1541599","display_name":"Geometric primitive","level":2,"score":0.4528000056743622},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.4456000030040741},{"id":"https://openalex.org/C2987819851","wikidata":"https://www.wikidata.org/wiki/Q191839","display_name":"Aerial imagery","level":2,"score":0.41780000925064087},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.40369999408721924},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.3919999897480011},{"id":"https://openalex.org/C188198153","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiting","level":2,"score":0.35280001163482666},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.3425999879837036},{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.3424000144004822},{"id":"https://openalex.org/C43126263","wikidata":"https://www.wikidata.org/wiki/Q128751","display_name":"Source code","level":2,"score":0.33820000290870667},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.336899995803833},{"id":"https://openalex.org/C108882727","wikidata":"https://www.wikidata.org/wiki/Q2991685","display_name":"Solid modeling","level":2,"score":0.3248000144958496},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.31869998574256897},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.3070000112056732},{"id":"https://openalex.org/C160633673","wikidata":"https://www.wikidata.org/wiki/Q355198","display_name":"Pixel","level":2,"score":0.30070000886917114},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.30000001192092896},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.2976999878883362},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.28220000863075256},{"id":"https://openalex.org/C151416825","wikidata":"https://www.wikidata.org/wiki/Q934791","display_name":"Quadtree","level":2,"score":0.2808000147342682},{"id":"https://openalex.org/C58489278","wikidata":"https://www.wikidata.org/wiki/Q1172284","display_name":"Data set","level":2,"score":0.27900001406669617},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.27559998631477356},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.2721000015735626},{"id":"https://openalex.org/C160920958","wikidata":"https://www.wikidata.org/wiki/Q7662746","display_name":"Synthetic data","level":2,"score":0.27160000801086426},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.27129998803138733},{"id":"https://openalex.org/C136520226","wikidata":"https://www.wikidata.org/wiki/Q302814","display_name":"Geometric data analysis","level":2,"score":0.26910001039505005}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.04788","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.04788","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.04788","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.04788","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.7684949636459351,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Visual":[0],"localization":[1,80],"--":[2,11,98,102],"estimating":[3],"a":[4,8,13,77,118,137,161],"camera":[5,47],"pose":[6],"within":[7,136],"pre-existing":[9],"map":[10,23],"is":[12,93],"fundamental":[14],"problem":[15],"in":[16,105],"computer":[17],"vision.":[18],"Floorplans":[19],"are":[20,26,103],"an":[21],"attractive":[22],"representation:":[24],"they":[25,63],"readily":[27],"available":[28],"for":[29],"most":[30],"buildings,":[31],"compact,":[32],"and":[33,49,68,100,108,126,145],"inherently":[34],"invariant":[35],"to":[36,84,129],"visual":[37],"appearance":[38],"changes.":[39],"However,":[40],"bridging":[41],"the":[42,130],"severe":[43],"domain":[44],"gap":[45,58],"between":[46],"observations":[48],"floorplan":[50,79,131],"geometry":[51],"remains":[52],"challenging.":[53],"Existing":[54],"methods":[55,155],"address":[56],"this":[57],"through":[59],"data-driven":[60],"learning,":[61],"yet":[62],"require":[64],"large-scale":[65],"training":[66],"data":[67],"environment-specific":[69],"retraining,":[70],"limiting":[71],"their":[72],"practical":[73],"deployment.":[74],"We":[75,113],"propose":[76],"zero-shot":[78],"method":[81],"that":[82,94,149],"generalizes":[83],"novel":[85],"environments":[86,107],"without":[87],"any":[88],"retraining.":[89],"Our":[90],"key":[91],"insight":[92],"dominant":[95],"geometric":[96],"primitives":[97,116],"lines":[99],"circles":[101],"ubiquitous":[104],"human-made":[106],"provide":[109],"appearance-invariant":[110],"structural":[111],"constraints.":[112],"extract":[114],"these":[115],"from":[117],"bird's-eye-view":[119],"(BEV)":[120],"projection":[121],"of":[122,165],"monocular":[123],"3D":[124],"reconstructions":[125],"match":[127],"them":[128],"via":[132],"dedicated":[133],"minimal":[134],"solvers":[135],"robust":[138],"estimation":[139],"framework.":[140],"Experiments":[141],"on":[142,156],"both":[143],"simulated":[144],"real-world":[146],"datasets":[147],"show":[148],"our":[150],"approach":[151],"outperforms":[152],"state-of-the-art":[153],"learning-based":[154],"unseen":[157],"environments,":[158],"while":[159],"using":[160],"single":[162],"fixed":[163],"set":[164],"hyperparameters":[166],"across":[167],"all":[168],"experiments.":[169],"The":[170],"source":[171],"code":[172],"will":[173],"be":[174],"made":[175],"publicly":[176],"available.":[177]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-06-05T00:00:00"}
