Related papers: Floorplan-Jigsaw: Jointly Estimating Scene Layout …

Automated assembly of 3D fractures is essential in orthopedics, archaeology, and our daily life. This paper presents Jigsaw, a novel framework for assembling physically broken 3D objects from multiple pieces. Our approach leverages…

Camera relocalization involving a prior 3D reconstruction plays a crucial role in many mixed reality and robotics applications. Estimating the camera pose directly with respect to pre-built 3D models can be prohibitively expensive for…

Image based modeling and laser scanning are two commonly used approaches in large-scale architectural scene reconstruction nowadays. In order to generate a complete scene reconstruction, an effective way is to completely cover the scene…

Connecting current observations with prior experiences helps robots adapt and plan in new, unseen 3D environments. Recently, 3D scene analogies have been proposed to connect two 3D scenes, which are smooth maps that align scene regions with…

In this paper, a robust RGB-D SLAM system is proposed to utilize the structural information in indoor scenes, allowing for accurate tracking and efficient dense mapping on a CPU. Prior works have used the Manhattan World (MW) assumption to…

Extracting planes from a 3D scene is useful for downstream tasks in robotics and augmented reality. In this paper we tackle the problem of estimating the planar surfaces in a scene from posed images. Our first finding is that a surprisingly…

Global place recognition and 3D relocalization are one of the most important components in the loop closing detection for 3D LiDAR Simultaneous Localization and Mapping (SLAM). In order to find the accurate global 6-DoF transform by feature…

Scene graph alignment establishes object correspondences between two 3D scene graphs constructed from partially overlapping observations. This enables efficient scene understanding and object-level relocalization when a robot revisits a…

In this paper, we present a novel pose normalization method for indoor mapping point clouds and triangle meshes that is robust against large fractions of the indoor mapping geometries deviating from an ideal Manhattan World structure. In…

3D scan geometry and CAD models often contain complementary information towards understanding environments, which could be leveraged through establishing a mapping between the two domains. However, this is a challenging task due to strong,…

In this paper, we propose a novel method for joint recovery of camera pose, object geometry and spatially-varying Bidirectional Reflectance Distribution Function (svBRDF) of 3D scenes that exceed object-scale and hence cannot be captured…

We consider exploration tasks in which an autonomous mobile robot incrementally builds maps of initially unknown indoor environments. In such tasks, the robot makes a sequence of decisions on where to move next that, usually, are based on…

Compositional 3D scene synthesis has diverse applications across a spectrum of industries such as robotics, films, and video games, as it closely mirrors the complexity of real-world multi-object environments. Conventional works typically…

We consider the problem of localizing relevant subsets of non-rigid geometric shapes given only a partial 3D query as the input. Such problems arise in several challenging tasks in 3D vision and graphics, including partial shape similarity,…

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…

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…

We address 2D floorplan reconstruction from 3D scans. Existing approaches typically employ heuristically designed multi-stage pipelines. Instead, we formulate floorplan reconstruction as a single-stage structured prediction task: find a…

This paper presents a novel approach for structure-preserving planar simplification of indoor scene point clouds for both simulated and real-world environments. Initially, the scene point cloud undergoes preprocessing steps, including noise…

The goal of this paper is to take a single 2D image of a scene and recover the 3D structure in terms of a small set of factors: a layout representing the enclosing surfaces as well as a set of objects represented in terms of shape and pose.…

Usual Structure-from-Motion (SfM) techniques require at least trifocal overlaps to calibrate cameras and reconstruct a scene. We consider here scenarios of reduced image sets with little overlap, possibly as low as two images at most seeing…