如何在没有标记的情况下将虚拟对象放置在场景中的特定位置？

I have a question about using ARcore. How to develop an app that recognizes the environment and distributes certain virtual elements in specific places in the scene? For example, when viewing a hallway with a few doors, a ladder and an exit, the app a virtual board written ladder on the ladder, on each door a board with the name of the room and a board written output on the exit. It's possible? It is not a GeolocationApp, because GPS would not be used. wanted to do this from the recognition of the environment. Even with Vuforia I found it difficult to do so, and so far I have not. Can someone help me? Is there a manual or tutorial about it? Preferably not on video. I thank everyone.I have a question about using ARcore. How to de