Related papers: Exploiting 2D Floorplan for Building-scale Panoram…

Panorama images have a much larger field-of-view thus naturally encode enriched scene context information compared to standard perspective images, which however is not well exploited in the previous scene understanding methods. In this…

We present a novel method to reconstruct the 3D layout of a room (walls, floors, ceilings) from a single perspective view in challenging conditions, by contrast with previous single-view methods restricted to cuboid-shaped layouts. This…

We address the challenge of recovering an underlying scene geometry and colors from a sparse set of RGBD view observations. In this work, we present a new solution termed RGBD$^2$ that sequentially generates novel RGBD views along a camera…

We present a novel approach to reconstruct RGB-D indoor scene with plane primitives. Our approach takes as input a RGB-D sequence and a dense coarse mesh reconstructed by some 3D reconstruction method on the sequence, and generate a…

Building Information Modeling (BIM) technology is a key component of modern construction engineering and project management workflows. As-is BIM models that represent the spatial reality of a project site can offer crucial information to…

Coarse room layout estimation provides important geometric cues for many downstream tasks. Current state-of-the-art methods are predominantly based on single views and often assume panoramic images. We introduce PixCuboid, an…

Glass surfaces are becoming increasingly ubiquitous as modern buildings tend to use a lot of glass panels. This, however, poses substantial challenges to the operations of autonomous systems such as robots, self-driving cars, and drones, as…

Scene graphs have been recently introduced into 3D spatial understanding as a comprehensive representation of the scene. The alignment between 3D scene graphs is the first step of many downstream tasks such as scene graph aided point cloud…

The research and development of intelligent automation solutions is a ground-breaking point for the factory of the future. A promising and challenging mission is the use of autonomous robot systems to automate tasks in the field of…

In this work, we use multi-view aerial images to reconstruct the geometry, lighting, and material of facades using neural signed distance fields (SDFs). Without the requirement of complex equipment, our method only takes simple RGB images…

In this paper, we present an automatic system for the analysis and labeling of structural scenes, floor plan drawings in Computer-aided Design (CAD) format. The proposed system applies a fusion strategy to detect and recognize various…

We present a novel RGB-D mapping system for generating 3D maps over spatially extended regions with higher resolution than current methods using multiple, dynamically placed mapping volumes. Our method takes in RGB-D frames and dynamically…

Autonomous robots are increasingly playing key roles as support platforms for human operators in high-risk, dangerous applications. To accomplish challenging tasks, an efficient human-robot cooperation and understanding is required. While…

Graph-based representations such as Scene Graphs enable localization in structured indoor environments by matching a locally observed graph, constructed from sensor data, to a prior map. This process is particularly challenging in…

We propose a novel object-augmented RGB-D SLAM system that is capable of constructing a consistent object map and performing relocalisation based on centroids of objects in the map. The approach aims to overcome the view dependence of…

Face alignment aims to estimate the locations of a set of landmarks for a given image. This problem has received much attention as evidenced by the recent advancement in both the methodology and performance. However, most of the existing…

This paper proposes a robust, high-precision positioning methodology to address localization failures arising from complex background interference in large-scale flight navigation and the computational inefficiency inherent in conventional…

We have implemented a method that detects planar regions from 3D scan data using Random Sample Consensus (RANSAC) algorithm to address the issue of a trade-off between the scanning speed and the point density of 3D scanning. However, the…

Man-made environments such as households, offices, or factory floors are typically composed of linear structures. Accordingly, polylines are a natural way to accurately represent their geometry. In this paper, we propose a novel…

Scene understanding has made tremendous progress over the past few years, as data acquisition systems are now providing an increasing amount of data of various modalities (point cloud, depth, RGB...). However, this improvement comes at a…