SALVe: Semantic Alignment Verification for Floorplan Reconstruction from Sparse Panoramas

John Lambert, Yuguang Li, Ivaylo Boyadzhiev, Lambert Wixson, Manjunath Narayana, Will Hutchcroft, James Hays, Frank Dellaert, Sing Bing Kang

ECCV 2022

doi:10.1007/978-3-031-19821-2_37 /eccv/2022/lambert2022eccv-salve/

Abstract

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 deg. panoramas, whose semantic features (windows, doors, and openings) are inferred and used to hypothesize pairwise room adjacency or overlap. SALVe initializes a pose graph, which is subsequently optimized using GTSAM. Once the room poses are computed, room layouts are inferred using HorizonNet, and the floorplan is constructed by stitching the most confident layout boundaries. We validate our system qualitatively and quantitatively as well as through ablation studies, showing that it outperforms state-of-the-art SfM systems in completeness by over 200%, without sacrificing accuracy. Our results point to the significance of our work: poses of 81% of panoramas are localized in the first 2 CCs connected components (CCs), and 89% in the first 3 CCs.

PDF ECCV Semantic Scholar

Cite

Text

Lambert et al. "SALVe: Semantic Alignment Verification for Floorplan Reconstruction from Sparse Panoramas." Proceedings of the European Conference on Computer Vision (ECCV), 2022. doi:10.1007/978-3-031-19821-2_37

Markdown

[Lambert et al. "SALVe: Semantic Alignment Verification for Floorplan Reconstruction from Sparse Panoramas." Proceedings of the European Conference on Computer Vision (ECCV), 2022.](https://mlanthology.org/eccv/2022/lambert2022eccv-salve/) doi:10.1007/978-3-031-19821-2_37

BibTeX

@inproceedings{lambert2022eccv-salve,
  title     = {{SALVe: Semantic Alignment Verification for Floorplan Reconstruction from Sparse Panoramas}},
  author    = {Lambert, John and Li, Yuguang and Boyadzhiev, Ivaylo and Wixson, Lambert and Narayana, Manjunath and Hutchcroft, Will and Hays, James and Dellaert, Frank and Kang, Sing Bing},
  booktitle = {Proceedings of the European Conference on Computer Vision (ECCV)},
  year      = {2022},
  doi       = {10.1007/978-3-031-19821-2_37},
  url       = {https://mlanthology.org/eccv/2022/lambert2022eccv-salve/}
}