[madhawav]

Estimating the global camera pose using non-overlapping photos is a challenging problem. This is doable if the photos densely cover the house (e.g. video frames).

However, if the global camera poses are available, we can detect surfaces in photos and project them reasonably well into 3D. In the past, I have used this work to achieve something similar: https://github.com/NVlabs/planercnn