GLocFM: A Geometry-Aware Foundation Model for 3D Indoor Wireless Localization
Learning-based wireless localizers often fail to utilize geometric information about the propagation environment, limiting their ability to exploit non-line-of-sight (NLoS) propagation and generalize across scenes. To bridge this gap, we propose GLocFM, a Geometry-aware Localization Foundation Model, which jointly exploits WiFi measurements and scene geometry represented as a 3D point cloud. We formulate localization as a maximum-likelihood (ML) estimation problem, where the goal is to find a transmitter position that maximizes the likelihood of the wireless observations conditioned on the scene geometry. The likelihood of a candidate transmitter position is calculated by a learned scoring function that matches the observed delay--angle-of-arrival (AoA) spectrum against the spectrum predicted for that candidate. A hierarchical scene encoder extracts propagation-relevant features to produce geometric priors for LoS and one-bounce reflection paths. For scenarios with imperfect synchronization, we further introduce a time-of-flight (ToF)-robust GLocFM model to handle unknown ToF offsets. GLocFM is trained on a multi-modal synthetic indoor localization dataset comprising 221 diverse scenes whose associated wireless signals are generated using Sionna RT. On both synthetic and the NeRF$^{2}$ dataset based on real measurements, GLocFM reduces mean 3D localization error relative to one of the state-of-the-art localization baselines by 49.5\% and 48.8\%, respectively. Ablations across different number of receiver, bandwidths, and array sizes further demonstrate the effectiveness and robustness of the proposed framework.