Disclosed herein are methods and systems for registering an Augmented Reality (AR) scene to a 3D model of a certain area, comprising accumulating a geometrical dataset of a certain area based on visual data captured by imaging sensors during an AR session, obtaining a 3D model of the certain area, computing a similarity score for the geometrical dataset compared to the 3D model rotated in several candidate principal rotation angles based on parallelism of corresponding planes identified in the geometrical dataset and in the rotated 3D model, selecting a highest score principal rotation angle, computing a translation vector for each of a plurality of fine-tune rotation angles with respect to the selected principal rotation angle based on a distance between the corresponding planes, selecting a lowest distance fine-tune rotation angle, and registering the geometrical dataset to the 3D model according to the selected fine-tune rotation angle and its translation vector.
Registration of 3D augmented scene to structural floor plans