Related papers: Floor-SP: Inverse CAD for Floorplans by Sequential…
Multi-modality of color and depth, i.e., RGB-D, is of great importance in recent research of indoor scene recognition. In this kind of data representation, depth map is able to describe the 3D structure of scenes and geometric relations…
In this paper we propose a highly scalable convolutional neural network, end-to-end trainable, for real-time 3D human pose regression from still RGB images. We call this approach the Scalable Sequential Pyramid Networks (SSP-Net) as it is…
State-of-the-art single-view 360-degree room layout reconstruction methods formulate the problem as a high-level 1D (per-column) regression task. On the other hand, traditional low-level 2D layout segmentation is simpler to learn and can…
Location fingerprinting locates devices based on pattern matching signal observations to a pre-defined signal map. This paper introduces a technique to enable fast signal map creation given a dedicated surveyor with a smartphone and…
In this paper, we propose an exact general algorithm for solving non-convex optimization problems, where the non-convexity arises due to the presence of an inverse S-shaped function. The proposed method involves iteratively approximating…
In Robotics, especially in this era of autonomous driving, mapping is one key ability of a robot to be able to navigate through an environment, localize on it and analyze its traversability. To allow for real-time execution on constrained…
Enabling robots to autonomously discover high-level spatial concepts (e.g., rooms and walls) from primitive geometric observations (e.g., planar surfaces) within 3D Scene Graphs is essential for robust indoor navigation and mapping. These…
The problem of finding suitable point embedding or geometric configurations given only Euclidean distance information of point pairs arises both as a core task and as a sub-problem in a variety of machine learning applications. In this…
This paper investigates a new approach to model-based reinforcement learning using background planning: mixing (approximate) dynamic programming updates and model-free updates, similar to the Dyna architecture. Background planning with…
Maps --- specifically floor plans --- are useful for a variety of tasks from arranging furniture to designating conceptual or functional spaces (e.g., kitchen, walkway). We present a simple algorithm for quickly laying a floor plan (or…
We propose a novel approach to robot-operated active understanding of unknown indoor scenes, based on online RGBD reconstruction with semantic segmentation. In our method, the exploratory robot scanning is both driven by and targeting at…
We focus on the problem of semantic segmentation based on RGB-D data, with emphasis on analyzing cluttered indoor scenes containing many instances from many visual categories. Our approach is based on a parametric figure-ground intensity…
This paper tackles optimal sensor placement for Bayesian linear inverse problems, a popular version of the more general Optimal Experimental Design (OED) problem, using the D-optimality criterion. This is done by establishing connections…
The existence of a worldwide indoor floorplans database can lead to significant growth in location-based applications, especially for indoor environments. In this paper, we present CrowdInside: a crowdsourcing-based system for the automatic…
Generating realistic 3D indoor scenes from user inputs remains a challenging problem in computer vision and graphics, requiring careful balance of geometric consistency, spatial relationships, and visual realism. While neural generation…
Purpose: The long scan times of quantitative MRI techniques make motion artifacts more likely. For MR-Fingerprinting-like approaches, this problem can be addressed with self-navigated retrospective motion correction based on reconstructions…
We introduce the Semantic Interior Mapology (SIM) toolbox for the conversion of a floor plan and its room contents (such as furnitures) to a vectorized form. The toolbox is composed of the Map Conversion toolkit and the Map Population…
Floor plans can provide valuable prior information that helps enhance the accuracy of indoor positioning systems. However, existing research typically faces challenges in efficiently leveraging floor plan information and applying it to…
Implicit neural representations have shown promising potential for the 3D scene reconstruction. Recent work applies it to autonomous 3D reconstruction by learning information gain for view path planning. Effective as it is, the computation…
Reconstructing 4D spatial intelligence from visual observations has long been a central yet challenging task in computer vision, with broad real-world applications. These range from entertainment domains like movies, where the focus is…