相关论文: Exploiting 2D Floorplan for Building-scale Panoram…

This paper proposes a new approach for automated floorplan reconstruction from RGBD scans, a major milestone in indoor mapping research. The approach, dubbed Floor-SP, formulates a novel optimization problem, where room-wise coordinate…

Processing large indoor scenes is a challenging task, as scan registration and camera trajectory estimation methods accumulate errors across time. As a result, the quality of reconstructed scans is insufficient for some applications, such…

We introduce Scan2Plan, a novel approach for accurate estimation of a floorplan from a 3D scan of the structural elements of indoor environments. The proposed method incorporates a two-stage approach where the initial stage clusters an…

We present a novel approach to align partial 3D reconstructions which may not have substantial overlap. Using floorplan priors, our method jointly predicts a room layout and estimates the transformations from a set of partial 3D data.…

We present Scan2CAD, a novel data-driven method that learns to align clean 3D CAD models from a shape database to the noisy and incomplete geometry of a commodity RGB-D scan. For a 3D reconstruction of an indoor scene, our method takes as…

We propose a new system for automatic 2D floorplan reconstruction that is enabled by SALVe, our novel pairwise learned alignment verifier. The inputs to our system are sparsely located 360$^\circ$ panoramas, whose semantic features…

The ultimate goal of this indoor mapping research is to automatically reconstruct a floorplan simply by walking through a house with a smartphone in a pocket. This paper tackles this problem by proposing FloorNet, a novel deep neural…

This paper presents an algorithm for indoor layout estimation and reconstruction through the fusion of a sequence of captured images and LiDAR data sets. In the proposed system, a movable platform collects both intensity images and 2D LiDAR…

In recent years, floor plan segmentation has gained significant attention due to its wide range of applications in floor plan reconstruction and robotics. In this paper, we propose a novel 2D floor plan segmentation technique based on a…

Reconstruction of geometric structures from images using supervised learning suffers from limited available amount of accurate data. One type of such data is accurate real-world RGB-D images. A major challenge in acquiring such ground truth…

Many public buildings provide floorplans with a "you are here" indicator to help visitors orient themselves. Floorplan localization seeks to computationally replicate this capability by determining where visual observations were captured…

This article describes novel approaches to quickly estimate planar surfaces from RGBD sensor data. The approach manipulates the standard algebraic fitting equations into a form that allows many of the needed regression variables to be…

3D panorama synthesis is a promising yet challenging task that demands high-quality and diverse visual appearance and geometry of the generated omnidirectional content. Existing methods leverage rich image priors from pre-trained 2D…

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…

Panoramic RGB-D cameras are known for their ability to produce high quality 3D scene reconstructions. However, operating these cameras involves manually selecting viewpoints and physically transporting the camera, making the generation of a…

Generating immersive 360{\deg} indoor panoramas from 2D top-down views has applications in virtual reality, interior design, real estate, and robotics. This task is challenging due to the lack of explicit 3D structure and the need for…

We address the task of converting a floorplan and a set of associated photos of a residence into a textured 3D mesh model, a task which we call Plan2Scene. Our system 1) lifts a floorplan image to a 3D mesh model; 2) synthesizes surface…

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…

RGB-D cameras supply rich and dense visual and spatial information for various robotics tasks such as scene understanding, map reconstruction, and localization. Integrating depth and visual information can aid robots in localization and…

This paper presents a new approach to recognize elements in floor plan layouts. Besides walls and rooms, we aim to recognize diverse floor plan elements, such as doors, windows and different types of rooms, in the floor layouts. To this…