Related papers: Exploiting 2D Floorplan for Building-scale Panoram…
The 3D building modelling is important in urban planning and related domains that draw upon the content of 3D models of urban scenes. Such 3D models can be used to visualize city images at multiple scales from individual buildings to entire…
This paper presents a novel indoor layout estimation system based on the fusion of 2D LiDAR and intensity camera data. A ground robot explores an indoor space with a single floor and vertical walls, and collects a sequence of intensity…
Prior panorama stitching approaches heavily rely on pairwise feature correspondences and are unable to leverage geometric consistency across multiple views. This leads to severe distortion and misalignment, especially in challenging scenes…
Realistic 3D indoor scene datasets have enabled significant recent progress in computer vision, scene understanding, autonomous navigation, and 3D reconstruction. But the scale, diversity, and customizability of existing datasets is…
3D alignment has become a very important part of 3D scanning technology. For instance, we can divide the alignment process into four steps: key point detection, key point description, initial pose estimation, and alignment refinement.…
We introduce a lightweight and accurate localization method that only utilizes the geometry of 2D-3D lines. Given a pre-captured 3D map, our approach localizes a panorama image, taking advantage of the holistic 360 view. The system…
One major goal of vision is to infer physical models of objects, surfaces, and their layout from sensors. In this paper, we aim to interpret indoor scenes from one RGBD image. Our representation encodes the layout of orthogonal walls and…
Full 3D scanning can efficiently be obtained using structured light scanning combined with a rotation stage. In this setting it is, however, necessary to reposition the object and scan it in different poses in order to cover the entire…
We present our approach to improve room classification task on floor plan maps of buildings by representing floor plans as undirected graphs and leveraging graph neural networks to predict the room categories. Rooms in the floor plans are…
We present a novel area matching algorithm for merging two different 2D grid maps. There are many approaches to address this problem, nevertheless, most previous work is built on some assumptions, such as rigid transformation, or similar…
We propose a method that integrates two widely available data sources, building footprints from 2D maps and street level images, to derive valuable information that is generally difficult to acquire -- building heights and building facade…
An efficient hardware implementation for Simultaneous Localization and Mapping (SLAM) methods is of necessity for mobile autonomous robots with limited computational resources. In this paper, we propose a resource-efficient FPGA…
We present an automatic method for annotating images of indoor scenes with the CAD models of the objects by relying on RGB-D scans. Through a visual evaluation by 3D experts, we show that our method retrieves annotations that are at least…
Indoor navigation remains a critical challenge for people with visual impairments. The current solutions mainly rely on infrastructure-based systems, which limit their ability to navigate safely in dynamic environments. We propose a novel…
In this paper, we introduce a novel method called FRI-Net for 2D floorplan reconstruction from 3D point cloud. Existing methods typically rely on corner regression or box regression, which lack consideration for the global shapes of rooms.…
We present a mapping system capable of constructing detailed instance-level semantic models of room-sized indoor environments by means of an RGB-D camera. In this work, we integrate deep-learning-based instance segmentation and…
We propose an algorithm to predict room layout from a single image that generalizes across panoramas and perspective images, cuboid layouts and more general layouts (e.g. L-shape room). Our method operates directly on the panoramic image,…
RGB-D scanning of indoor environments is important for many applications, including real estate, interior design, and virtual reality. However, it is still challenging to register RGB-D images from a hand-held camera over a long video…
Many man-made objects are characterised by a shape that is symmetric along one or more planar directions. Estimating the location and orientation of such symmetry planes can aid many tasks such as estimating the overall orientation of an…
Recent years have seen a proliferation of new digital products for the efficient management of indoor spaces, with important applications like emergency management, virtual property showcasing and interior design. These products rely on…