相关论文: SceneAligner: 3D-Grounded Floorplan Localization i…

Digitalization of existing buildings and the creation of 3D BIM models for them has become crucial for many tasks. Of particular importance are floor plans, which contain information about building layouts and are vital for processes such…

Narrated instructional videos often show and describe manipulations of similar objects, e.g., repairing a particular model of a car or laptop. In this work we aim to reconstruct such objects and to localize associated narrations in 3D.…

Camera relocalization methods range from dense image alignment to direct camera pose regression from a query image. Among these, sparse feature matching stands out as an efficient, versatile, and generally lightweight approach with numerous…

Realistic 3D indoor scene datasets have enabled significant recent progress in computer vision, scene understanding, autonomous navigation, and 3D reconstruction. But the scale, diversity, and customizability of existing datasets is…

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…

Human beings understand natural language description and could able to imagine a corresponding visual for the same. For example, given a description of the interior of a house, we could imagine its structure and arrangements of furniture.…

In this paper, we propose a solution for legged robot localization using architectural plans. Our specific contributions towards this goal are several. Firstly, we develop a method for converting the plan of a building into what we denote…

Visual localization in large-scale UAV scenarios is a critical capability for autonomous systems, yet it remains challenging due to geometric complexity and environmental variations. While 3D Gaussian Splatting (3DGS) has emerged as a…

Trajectory planning in unstructured environments is a fundamental and challenging capability for mobile robots. Traditional modular pipelines suffer from latency and cascading errors across perception, localization, mapping, and planning…

We present a method to map 2D image observations of a scene to a persistent 3D scene representation, enabling novel view synthesis and disentangled representation of the movable and immovable components of the scene. Motivated by 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…

Space grounding refers to localizing a set of spatial references described in natural language instructions. Traditional methods often fail to account for complex reasoning -- such as distance, geometry, and inter-object relationships --…

Converting raster floorplans into engineering-grade vector graphics is challenging due to complex topology and strict geometric constraints. To address this, we present FloorplanVLM, a unified framework that reformulates floorplan…

Many robotics applications require precise pose estimates despite operating in large and changing environments. This can be addressed by visual localization, using a pre-computed 3D model of the surroundings. The pose estimation then…

Indoor navigation remains a critical challenge for people with visual impairments. The current solutions mainly rely on infrastructure-based systems, which limit their ability to navigate safely in dynamic environments. We propose a novel…

We introduce the task of localizing a flexible number of objects in real-world 3D scenes using natural language descriptions. Existing 3D visual grounding tasks focus on localizing a unique object given a text description. However, such a…

Reconstructing the underlying 3D surface of an object from a single image is a challenging problem that has received extensive attention from the computer vision community. Many learning-based approaches tackle this problem by learning a 3D…

This paper presents a simple and robust method for the automatic localisation of static 3D objects in large-scale urban environments. By exploiting the potential to merge a large volume of noisy but accurately localised 2D image data, we…

In this paper, we present an automatic system for the analysis and labeling of structural scenes, floor plan drawings in Computer-aided Design (CAD) format. The proposed system applies a fusion strategy to detect and recognize various…

Localization, or position fixing, is an important problem in robotics research. In this paper, we propose a novel approach for long-term localization in a changing environment using 3D LiDAR. We first create the map of a real environment…