A single egocentric image typically captures only a small portion of the floor, yet a complete metric traversability map of the surroundings would better serve applications such as indoor navigation. We introduce FlatLands, a dataset and benchmark for single-view bird's-eye view (BEV) floor completion. The dataset contains 270,575 observations from 17,656 real metric indoor scenes drawn from six existing datasets, with aligned observation, visibility, validity, and ground-truth BEV maps, and the benchmark includes both in- and out-of-distribution evaluation protocols. We compare training-free approaches, deterministic models, ensembles, and stochastic generative models. Finally, we instantiate the task as an end-to-end monocular RGB-to-floormaps pipeline. FlatLands provides a rigorous testbed for uncertainty-aware indoor mapping and generative completion for embodied navigation.
@article{arxiv.2603.16016,
title = {FlatLands: Generative Floormap Completion From a Single Egocentric View},
author = {Subhransu S. Bhattacharjee and Dylan Campbell and Rahul Shome},
journal= {arXiv preprint arXiv:2603.16016},
year = {2026}
}