http://www.download.com/3D-Home-Arch...-10307819.html
When my parents refinished their basement, thats the program they used. I fiddled with it, and it sounds exactly like you want. Best of all, it's got a free trial. You design it on the floorplan level, but there is a 3d Camera you can position and move within the space you've just created. I was able to re-arrange the furniture in my room (with exact dimensions) and see how things would look in 3D space if I put my desk over there, and my bookshelf over there...
That's my 2c..
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