A 360 panoramic video sequence of an architectural or industrial site includes a plurality of 360 images. 3D poses of the 360 images are determined with respect to one another, and a subset of the images extracted for further processing according to selection criteria. The 3D poses of the extracted images is refined based on determined correspondences of the features in the images, and a 3D point cloud of the site is developed from the extracted images with refined pose estimates. An “as-built” representation of the site captured in the panoramic video sequence is created from the sparse 3D point cloud and aligned to a 2D or 3D plan of the site. Once so aligned, the extracted images may be presented to a user in conjunction with their plan positions (e.g., overlayed on the site plan). Optionally, a point cloud or mesh view of the site may also be returned.