Corners for Layout: End-to-End Layout Recovery From 360 Images

The problem of 3D layout recovery in indoor scenes has been a core research topic for over a decade. However, there are still several major challenges that remain unsolved. Among the most relevant ones, a major part of the state-of-the-art methods make implicit or explicit assumptions on the scenes...

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Bibliographic Details
Published in:IEEE robotics and automation letters 2020-04, Vol.5 (2), p.1254-1261
Main Authors: Fernandez-Labrador, Clara, Facil, Jose M., Perez-Yus, Alejandro, Demonceaux, Cedric, Civera, Javier, Guerrero, Jose J.
Format: Article
Language:English
Subjects:
Augmented reality
Cameras
Computer Science
Convolution
Corners
Distortion
Image edge detection
Layout
Layouts
Omnidirectional vision
Recovery
Robotics
semantic scene understanding
Three dimensional models
Three-dimensional displays
Training
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Summary:The problem of 3D layout recovery in indoor scenes has been a core research topic for over a decade. However, there are still several major challenges that remain unsolved. Among the most relevant ones, a major part of the state-of-the-art methods make implicit or explicit assumptions on the scenes -e.g. box-shaped or Manhattan layouts. Also, current methods are computationally expensive and not suitable for real-time applications like robot navigation and AR/YR. In this work we present CFL (Corners for Layout), the first end-to-end model that predicts layout corners for 3D layout recovery on 360° images. Our experimental results show that we outperform the state of the art, making less assumptions on the scene than other works, and with lower cost. We also show that our model generalizes better to camera position variations than conventional approaches by using EquiConvs, a convolution applied directly on the spherical projection and hence invariant to the equirectangular distortions.
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2020.2967274