相关论文: RoomNet: End-to-End Room Layout Estimation

Estimating the layout of a room from a single-shot panoramic image is important in virtual/augmented reality and furniture layout simulation. This involves identifying three-dimensional (3D) geometry, such as the location of corners and…

Room layout estimation is a long-existing robotic vision task that benefits both environment sensing and motion planning. However, layout estimation using point clouds (PCs) still suffers from data scarcity due to annotation difficulty. As…

We propose Ray-ONet to reconstruct detailed 3D models from monocular images efficiently. By predicting a series of occupancy probabilities along a ray that is back-projected from a pixel in the camera coordinate, our method Ray-ONet…

Pose estimation is a fundamental building block for robotic applications such as autonomous vehicles, UAV, and large scale augmented reality. It is also a prohibitive factor for those applications to be in mass production, since the…

We present Layout Anything, a transformer-based framework for indoor layout estimation that adapts the OneFormer's universal segmentation architecture to geometric structure prediction. Our approach integrates OneFormer's task-conditioned…

Estimating depth from RGB images can facilitate many computer vision tasks, such as indoor localization, height estimation, and simultaneous localization and mapping (SLAM). Recently, monocular depth estimation has obtained great progress…

Modern scene reconstruction methods are able to accurately recover 3D surfaces that are visible in one or more images. However, this leads to incomplete reconstructions, missing all occluded surfaces. While much progress has been made on…

We present a novel method to reconstruct the 3D layout of a room (walls, floors, ceilings) from a single perspective view in challenging conditions, by contrast with previous single-view methods restricted to cuboid-shaped layouts. This…

We present a deep learning framework, called DuLa-Net, to predict Manhattan-world 3D room layouts from a single RGB panorama. To achieve better prediction accuracy, our method leverages two projections of the panorama at once, namely the…

We study the task of semantic mapping - specifically, an embodied agent (a robot or an egocentric AI assistant) is given a tour of a new environment and asked to build an allocentric top-down semantic map ("what is where?") from egocentric…

Indoor positioning and navigation inside an area with no GPS-data availability is a challenging problem. There are applications such as augmented reality, autonomous driving, navigation of drones inside tunnels, in which indoor positioning…

Visual localization is critical to many applications in computer vision and robotics. To address single-image RGB localization, state-of-the-art feature-based methods match local descriptors between a query image and a pre-built 3D model.…

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…

Recognition of floor plans has been a challenging and popular task. Despite that many recent approaches have been proposed for this task, they typically fail to make the room-level unified prediction. Specifically, multiple semantic…

In this paper, we address the problem of global-scale image geolocation, proposing a mixed classification-retrieval scheme. Unlike other methods that strictly tackle the problem as a classification or retrieval task, we combine the two…

Analyzing scenes thoroughly is crucial for mobile robots acting in different environments. Semantic segmentation can enhance various subsequent tasks, such as (semantically assisted) person perception, (semantic) free space detection,…

An accurate room localization system is a powerful tool for providing location-based services. Considering that people spend most of their time indoors, indoor localization systems are becoming increasingly important in designing smart…

We consider image classification with estimated depth. This problem falls into the domain of transfer learning, since we are using a model trained on a set of depth images to generate depth maps (additional features) for use in another…

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 this paper, we address the novel, highly challenging problem of estimating the layout of a complex urban driving scenario. Given a single color image captured from a driving platform, we aim to predict the bird's-eye view layout of the…