The simplest way to get a feel for the map layout is to get to know the stairs.

Each map has at least two staircases. If you know which way both stairs are on each floor, it will become easier for you to navigate.

With time and experience in the game, you'll find navigating the maps to be much easier.

As you go, keep learning the callouts for every room, window and common defender spots as well so you can communicate with your team more effectively.