UnLoc: Leveraging Depth Uncertainties for Floorplan Localization

ArXi:2509.11301v2 Announce Type: replace We propose UnLoc, an efficient data-driven solution for sequential camera localization within floorplans. Floorplan data is readily available, long-term persistent, and robust to changes in visual appearance. We address key limitations of recent methods, such as the lack of uncertainty modeling in depth predictions and the necessity for custom depth networks trained for each environment. We