BADGR: Bundle Adjustment Diffusion Conditioned by Gradients for Wide-Baseline Floor Plan Reconstruction

Initial walls Figure 1. Overview of BADGR, a diffusion-based bundle adjustment (BA) model for generating precise, view-consistent camera poses and floor plan layouts. BADGR uses per-image floor boundaries and image column-to-wall assignments (upper left) as coarse input, refining poses and layouts through a gradient-conditioned denoising process (upper right). The bottom right shows view consistency by projecting the output layouts with the estimated poses.