Techniques for estimating a perimeter of a room environment at least partially enclosed by a set of adjoining walls using posed images are disclosed. A set of images and a set of poses are obtained. A depth map is generated based on the set of images and the set of poses. A set of wall segmentation maps are generated based on the set of images, each of the set of wall segmentation maps indicating a target region of a corresponding image that contains the set of adjoining walls. A point cloud is generated based on the depth map and the set of wall segmentation maps, the point cloud including a plurality of points that are sampled along portions of the depth map that align with the target region. The perimeter of the environment along the set of adjoining walls is estimated based on the point cloud.