A computer-implemented method for creating enhanced geo-localized floor plans, comprising: generating a plurality of frames based on visual multimedia content, wherein the visual multimedia content shows a site, wherein each frame is a two-dimensional image showing a portion of the site; identifying a plurality of frame features shown in the plurality of frames based on a features dictionary including a plurality of dictionary features and a plurality of respective arrangements of dictionary feature reference points, wherein the features dictionary further indicates whether each of the plurality of predetermined dictionary features is a known noisy feature; determining, based on the features dictionary and the plurality of frame features, at least one noisy frame feature among the plurality of frame features; removing at least a portion of the plurality of frames showing the at least one noisy frame feature to create a plurality of reduced noise frames; generating, based on the plurality of reduced noise frames, a sparse three-dimensional model of the site; matching a plurality of distinct feature sets that uniquely identify the portion of the site between the sparse 3D model and a site layout model, identifying a plurality of matching features of a site layout model with respect to the sparse 3D model, wherein each of the plurality of matching features is one of the matching distinct feature sets identified in the site layout model, wherein each distinct feature set defines a feature with respect to an arrangement of feature reference points, wherein each arrangement of feature reference points for a feature does not change based on an orientation of the feature; determining an orientation of features of the sparse 3D model with respect to the site layout model; and superimposing the features of the sparse 3D model on the plurality of matching features of the site layout model based on the determined orientation in order to create an enhanced floor plan, wherein the enhanced floor plan includes a plurality of floor plan points of the site layout model associated with respective portions of the sparse 3D model. generating a plurality of frames based on visual multimedia content, wherein the visual multimedia content shows a site, wherein each frame is a two-dimensional image showing a portion of the site; identifying a plurality of frame features shown in the plurality of frames based on a features dictionary including a plurality of dictionary features and a plurality of respective arrangements of dictionary feature reference points, wherein the features dictionary further indicates whether each of the plurality of predetermined dictionary features is a known noisy feature; determining, based on the features dictionary and the plurality of frame features, at least one noisy frame feature among the plurality of frame features; removing at least a portion of the plurality of frames showing the at least one noisy frame feature to create a plurality of reduced noise frames; generating, based on the plurality of reduced noise frames, a sparse three-dimensional model of the site; matching a plurality of distinct feature sets that uniquely identify the portion of the site between the sparse 3D model and a site layout model, identifying a plurality of matching features of a site layout model with respect to the sparse 3D model, wherein each of the plurality of matching features is one of the matching distinct feature sets identified in the site layout model, wherein each distinct feature set defines a feature with respect to an arrangement of feature reference points, wherein each arrangement of feature reference points for a feature does not change based on an orientation of the feature; determining an orientation of features of the sparse 3D model with respect to the site layout model; and superimposing the features of the sparse 3D model on the plurality of matching features of the site layout model based on the determined orientation in order to create an enhanced floor plan, wherein the enhanced floor plan includes a plurality of floor plan points of the site layout model associated with respective portions of the sparse 3D model.