A computer-implemented method comprising: obtaining, by a computing device and for a building, building location description information including a plurality of building location circular descriptors for a plurality of building locations in the building, wherein each building location circular descriptor is associated with one of the building locations and has first angular information about first latent space features identified for structural elements of the building at specified angular directions from the associated building location, wherein the first latent space features are identified by a first trained neural network using a two-dimensional floor plan of the building; generating, by the computing device, an image circular descriptor for a panorama image that is captured in a room of the building and that includes visual information about at least some walls of the room, wherein the image circular descriptor has second angular information about second latent space features identified from the visual information of the panorama image at specified directions by a second trained neural network; comparing, by the computing device, the image circular descriptor to the building location circular descriptors to determine one of the building location circular descriptors that is in the room and has first angular information best matching the second angular information of the image circular descriptor; associating, by the computing device and based on the comparing, the panorama image with a determined position and orientation in the room, the determined position based on the building location with which the determined one building location circular descriptor is associated, and the determined orientation identifying at least one direction from that building location corresponding to a specified part of the visible information in the panorama image; and presenting, by the computing device, information that includes the two-dimensional floor plan of the building and shows the room with a visual indication identifying at least the determined position for the panorama image, to cause use of the presented information for navigating the building. obtaining, by a computing device and for a building, building location description information including a plurality of building location circular descriptors for a plurality of building locations in the building, wherein each building location circular descriptor is associated with one of the building locations and has first angular information about first latent space features identified for structural elements of the building at specified angular directions from the associated building location, wherein the first latent space features are identified by a first trained neural network using a two-dimensional floor plan of the building; generating, by the computing device, an image circular descriptor for a panorama image that is captured in a room of the building and that includes visual information about at least some walls of the room, wherein the image circular descriptor has second angular information about second latent space features identified from the visual information of the panorama image at specified directions by a second trained neural network; comparing, by the computing device, the image circular descriptor to the building location circular descriptors to determine one of the building location circular descriptors that is in the room and has first angular information best matching the second angular information of the image circular descriptor; associating, by the computing device and based on the comparing, the panorama image with a determined position and orientation in the room, the determined position based on the building location with which the determined one building location circular descriptor is associated, and the determined orientation identifying at least one direction from that building location corresponding to a specified part of the visible information in the panorama image; and presenting, by the computing device, information that includes the two-dimensional floor plan of the building and shows the room with a visual indication identifying at least the determined position for the panorama image, to cause use of the presented information for navigating the building.