Related papers: Floorplan-Jigsaw: Jointly Estimating Scene Layout …
3D Gaussian Splatting (3DGS) has shown promising performance in novel view synthesis. Previous methods adapt it to obtaining surfaces of either individual 3D objects or within limited scenes. In this paper, we make the first attempt to…
LiDAR sensors are a powerful tool for robot simultaneous localization and mapping (SLAM) in unknown environments, but the raw point clouds they produce are dense, computationally expensive to store, and unsuited for direct use by downstream…
The performance of existing supervised layout estimation methods heavily relies on the quality of data annotations. However, obtaining large-scale and high-quality datasets remains a laborious and time-consuming challenge. To solve this…
Panoramic image enables deeper understanding and more holistic perception of $360^\circ$ surrounding environment, which can naturally encode enriched scene context information compared to standard perspective image. Previous work has made…
Computational methods to compute similarities between floor plans can help architects explore floor plans in large datasets to avoid duplication of designs and to search for existing plans that satisfy their needs. Recently, LayoutGMN…
Reconstructing geometry and topology structures from raw unstructured data has always been an important research topic in indoor mapping research. In this paper, we aim to reconstruct the floorplan with a vectorized representation from…
A proper scene representation is central to the pursuit of spatial intelligence where agents can robustly reconstruct and efficiently understand 3D scenes. A scene representation is either metric, such as landmark maps in 3D reconstruction,…
From a non-central panorama, 3D lines can be recovered by geometric reasoning. However, their sensitivity to noise and the complex geometric modeling required has led these panoramas being very little investigated. In this work we present a…
Instance segmentation in 3D is a challenging task due to the lack of large-scale annotated datasets. In this paper, we show that this task can be addressed effectively by leveraging instead 2D pre-trained models for instance segmentation.…
Safe motion planning in robotics requires planning into space which has been verified to be free of obstacles. However, obtaining such environment representations using lidars is challenging by virtue of the sparsity of their depth…
Acquiring 3D geometry of real world objects has various applications in 3D digitization, such as navigation and content generation in virtual environments. Image remains one of the most popular media for such visual tasks due to its…
This paper proposes a novel and exact method to reconstruct line-based 3D structure from a single image using Manhattan world assumption. This problem is a distinctly unsolved problem because there can be multiple 3D reconstructions from a…
Architectural floor plans are widely available priors which contain not only geometry but also the semantic information of the environment, yet existing localization methods largely ignore this semantic information. To address this, we…
We present an approach for the planar surface reconstruction of a scene from images with limited overlap. This reconstruction task is challenging since it requires jointly reasoning about single image 3D reconstruction, correspondence…
Given only a few glimpses of an environment, how much can we infer about its entire floorplan? Existing methods can map only what is visible or immediately apparent from context, and thus require substantial movements through a space to…
Reconstructing complete and interactive 3D scenes remains a fundamental challenge in computer vision and robotics, particularly due to persistent object occlusions and limited sensor coverage. Multiview observations from a single scene scan…
We present a novel approach for indoor scene synthesis, which learns to arrange decomposed cuboid primitives to represent 3D objects within a scene. Unlike conventional methods that use bounding boxes to determine the placement and scale of…
In complex missions such as search and rescue,robots must make intelligent decisions in unknown environments, relying on their ability to perceive and understand their surroundings. High-quality and real-time reconstruction enhances…
In this paper, we present a new approach to estimate the layout of a room from its single image. While recent approaches for this task use robust features learnt from data, they resort to optimization for detecting the final layout. In…
Real-time scene reconstruction from depth data inevitably suffers from occlusion, thus leading to incomplete 3D models. Partial reconstructions, in turn, limit the performance of algorithms that leverage them for applications in the context…