System and methodfor virtual modeling of indoor scenes from imagery

A method executed by one or more computing devices for generating a virtual representation of a physical scene, the method comprising:

• receiving scene data corresponding to the physical scene;
• processing the scene data to determine a plurality of scene components and a plurality of scene priors corresponding to the plurality of scene components;
• generating, by a plurality of neural networks, a plurality of dense geometric representations based at least in part on the plurality of scene priors, wherein each dense geometric representation corresponds to a scene component in the plurality of scene components;
• generating a virtual model of the physical scene based at least in part on the plurality of dense geometric representations;
• and
• generating a virtual representation of the physical scene based at least in part on the scene data, the virtual representation being aligned with the virtual model.