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

Reconstructing a layout of indoor spaces has been a crucial part of growing indoor location based services. One of the key challenges in the proliferation of indoor location based services is the unavailability of indoor spatial maps due to…

We present a novel approach to reconstructing lightweight, CAD-based representations of scanned 3D environments from commodity RGB-D sensors. Our key idea is to jointly optimize for both CAD model alignments as well as layout estimations of…

In this paper we present a novel approach to global localization using an RGB-D camera in maps of visual features. For large maps, the performance of pure image matching techniques decays in terms of robustness and computational cost.…

Popular 3D scan registration projects, such as Stanford digital Michelangelo or KinectFusion, exploit the high-resolution sensor data for scan alignment. It is particularly challenging to solve the registration of sparse 3D scans in the…

This paper presents PlanarSplatting, an ultra-fast and accurate surface reconstruction approach for multiview indoor images. We take the 3D planes as the main objective due to their compactness and structural expressiveness in indoor…

The reconstruction of indoor scenes remains challenging due to the inherent complexity of spatial structures and the prevalence of textureless regions. Recent advancements in 3D Gaussian Splatting have improved novel view synthesis with…

Pairwise compatibility calculation is at the core of most fragments-reconstruction algorithms, in particular those designed to solve different types of the jigsaw puzzle problem. However, most existing approaches fail, or aren't designed to…

Indoor positioning aims at navigation inside areas with no GPS-data availability and could be employed in many applications such as augmented reality, autonomous driving specially inside closed areas and tunnels. In this paper, a deep…

Access to large, diverse RGB-D datasets is critical for training RGB-D scene understanding algorithms. However, existing datasets still cover only a limited number of views or a restricted scale of spaces. In this paper, we introduce…

We present 3DMV, a novel method for 3D semantic scene segmentation of RGB-D scans in indoor environments using a joint 3D-multi-view prediction network. In contrast to existing methods that either use geometry or RGB data as input for this…

In this paper, we present GPLAN, software aimed at constructing dimensioned floorplan layouts based on graph-theoretical and optimization techniques. GPLAN takes user requirements as input in the following two forms: i. Adjacency graph: It…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

Automated patient positioning is a crucial step in streamlining MRI workflows and enhancing patient throughput. RGB-D camera-based systems offer a promising approach to automate this process by leveraging depth information to estimate…

We present a novel method for reconstructing parametric, volumetric, multi-story building models from unstructured, unfiltered indoor point clouds by means of solving an integer linear optimization problem. Our approach overcomes…

Robotic research encounters a significant hurdle when it comes to the intricate task of grasping objects that come in various shapes, materials, and textures. Unlike many prior investigations that heavily leaned on specialized point-cloud…

We propose a method for room layout estimation that does not rely on the typical box approximation or Manhattan world assumption. Instead, we reformulate the geometry inference problem as an instance detection task, which we solve by…

This paper describes a novel approach for generating accurate floor plans and 3D models of building interiors using scanned mesh data. Unlike previous methods, which begin with a high resolution point cloud from a laser range-finder, our…

This paper tackles a 2D architecture vectorization problem, whose task is to infer an outdoor building architecture as a 2D planar graph from a single RGB image. We provide a new benchmark with ground-truth annotations for 2,001 complex…

The paper exploits weak Manhattan constraints to parse the structure of indoor environments from RGB-D video sequences in an online setting. We extend the previous approach for single view parsing of indoor scenes to video sequences and…

This letter presents a novel method to estimate the relative poses between RGB-D cameras with minimal overlapping fields of view in a panoramic RGB-D camera system. This calibration problem is relevant to applications such as indoor 3D…