FreeLoc: Online Floorplan Localization via Diffusion-Aided Pose Refinement

FreeLoc is an online RGB-based floorplan localization framework that treats the floorplan as a directly queryable geometric map. It uses diffusion-aided pose refinement and real-time geometric querying to achieve accurate continuous pose estimates without requiring dense offline databases. Experiments show real-time inference and state-of-the-art performance in both single-frame and sequential localization, with validation in real-world indoor robotic scenarios.