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

Automated floorplanning or space layout planning has been a long-standing NP-hard problem in the field of computer-aided design, with applications in integrated circuits, architecture, urbanism, and operational research. In this paper, we…

Our goal is to provide a novel method of representing 2D shapes, where each shape will be assigned a unique fingerprint - a computable approximation to a conformal map of the given shape to a canonical shape in 2D or 3D space (see page 22…

We introduce HouseCrafter, a novel approach that can lift a floorplan into a complete large 3D indoor scene (e.g., a house). Our key insight is to adapt a 2D diffusion model, which is trained on web-scale images, to generate consistent…

SLAM is a fundamental component of modern autonomous systems, providing robots and their operators with a deeper understanding of their environment. SLAM systems often encounter challenges due to the dynamic nature of robotic motion,…

We introduce a novel RGB-D patch descriptor designed for detecting coplanar surfaces in SLAM reconstruction. The core of our method is a deep convolutional neural net that takes in RGB, depth, and normal information of a planar patch in an…

Recently, 3D Gaussian splatting-based RGB-D SLAM displays remarkable performance of high-fidelity 3D reconstruction. However, the lack of depth rendering consistency and efficient loop closure limits the quality of its geometric…

Robots navigating indoor environments often have access to architectural plans, which can serve as prior knowledge to enhance their localization and mapping capabilities. While some SLAM algorithms leverage these plans for global…

Simultaneous Localization and Mapping using RGB-D cameras has been a fertile research topic in the latest decade, due to the suitability of such sensors for indoor robotics. In this paper we propose a direct RGB-D SLAM algorithm with…

We provide a novel new approach for aligning geometric models using a dual graph structure where local features are mapping probabilities. Alignment of non-rigid structures is one of the most challenging computer vision tasks due to the…

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…

The task of room layout estimation is to locate the wall-floor, wall-ceiling, and wall-wall boundaries. Most recent methods solve this problem based on edge/keypoint detection or semantic segmentation. However, these approaches have shown…

In the realm of future home-assistant robots, 3D articulated object manipulation is essential for enabling robots to interact with their environment. Many existing studies make use of 3D point clouds as the primary input for manipulation…

Single-image room layout reconstruction aims to reconstruct the enclosed 3D structure of a room from a single image. Most previous work relies on the cuboid-shape prior. This paper considers a more general indoor assumption, i.e., the room…

This work proposes a RGB-D SLAM system specifically designed for structured environments and aimed at improved tracking and mapping accuracy by relying on geometric features that are extracted from the surrounding. Structured environments…

In this paper, we propose a tightly-coupled SLAM system fused with RGB, Depth, IMU and structured plane information. Traditional sparse points based SLAM systems always maintain a mass of map points to model the environment. Huge number of…

This paper proposes a deep neural architecture, PlaneRCNN, that detects and reconstructs piecewise planar surfaces from a single RGB image. PlaneRCNN employs a variant of Mask R-CNN to detect planes with their plane parameters and…

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…

We study the image-based geolocalization problem, aiming to localize ground-view query images on cartographic maps. Current methods often utilize cross-view localization techniques to match ground-view query images with 2D maps. However,…

How does a person work out their location using a floorplan? It is probably safe to say that we do not explicitly measure depths to every visible surface and try to match them against different pose estimates in the floorplan. And yet, this…