Techniques for generating aligned, augmented reality views are disclosed. In some embodiments, an estimate of a floorplan of a three-dimensional space is first generated based on one or more views of the three-dimensional space from a camera of a device located in the three-dimensional space. A cost function is next minimized with respect to the estimate of the floorplan to generate a corrected floorplan having less error than the estimated floorplan, and a camera pose corresponding to the corrected floorplan is determined. Display of a rendering having the determined camera pose is facilitated in an actual view of the camera, resulting in an aligned, augmented reality view.