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SlugTrails: An Egocentric Benchmark for Floor Plan Localization in Large Buildings

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

Floor-plan-based indoor visual localization enables infrastructure-free positioning, but most methods are developed and evaluated in small residential environments unlike the large public buildings of real deployment. We introduce SlugTrails, a floor plan localization benchmark for large indoor spaces under realistic egocentric sensing: $30$ Hz Aria glasses recordings across three campus buildings and six floors ($22089$ m$^2$ of floor plan outline), CAD-derived floor plans with semantic classes and circulation space masks, and trajectories aligned into the floor plan frame using laser-surveye

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