This paper proposes a new approach for automated floorplan reconstruction from RGBD scans, a major milestone in indoor mapping research. The approach, dubbed Floor-SP, formulates a novel optimization problem, where room-wise coordinate descent sequentially solves dynamic programming to optimize the floorplan graph structure. The objective function consists of data terms guided by deep neural networks, consistency terms encouraging adjacent rooms to share corners and walls, and the model complexity term. The approach does not require corner/edge detection with thresholds, unlike most other methods. We have evaluated our system on production-quality RGBD scans of 527 apartments or houses, including many units with non-Manhattan structures. Qualitative and quantitative evaluations demonstrate a significant performance boost over the current state-of-the-art. Please refer to our project website http://jcchen.me/floor-sp/ for code and data.
This paper presents a novel algorithm that utilizes a 2D floorplan to align panorama RGBD scans. While effective panorama RGBD alignment techniques exist, such a system requires extremely dense RGBD image sampling. Our approach can significantly reduce the number of necessary scans with the aid of a floorplan image. We formulate a novel Markov Random Field inference problem as a scan placement over the floorplan, as opposed to the conventional scan-to-scan alignment. The technical contributions lie in multi-modal image correspondence cues (between scans and schematic floorplan) as well as a no…
Washington University in St. Louis（圣路易斯华盛顿大学）；Simon Fraser University（西蒙弗雷泽大学）
The ultimate goal of this indoor mapping research is to automatically reconstruct a floorplan simply by walking through a house with a smartphone in a pocket. This paper tackles this problem by proposing FloorNet, a novel deep neural architecture. The challenge lies in the processing of RGBD streams spanning a large 3D space. FloorNet effectively processes the data through three neural network branches: 1) PointNet with 3D points, exploiting the 3D information; 2) CNN with a 2D point density image in a top-down view, enhancing the local spatial reasoning; and 3) CNN with RGB images, utilizing …
Processing large indoor scenes is a challenging task, as scan registration and camera trajectory estimation methods accumulate errors across time. As a result, the quality of reconstructed scans is insufficient for some applications, such as visual-based localization and navigation, where the correct position of walls is crucial. For many indoor scenes, there exists an image of a technical floorplan that contains information about the geometry and main structural elements of the scene, such as walls, partitions, and doors. We argue that such a floorplan is a useful source of spatial informatio…
We introduce Scan2Plan, a novel approach for accurate estimation of a floorplan from a 3D scan of the structural elements of indoor environments. The proposed method incorporates a two-stage approach where the initial stage clusters an unordered point cloud representation of the scene into room instances and wall instances using a deep neural network based voting approach. The subsequent stage estimates a closed perimeter, parameterized by a simple polygon, for each individual room by finding the shortest path along the predicted room and wall keypoints. The final floorplan is simply an assemb…
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 variable-size set of polygons, which in turn are variable-length sequences of ordered vertices. To solve it we develop a novel Transformer architecture that generates polygons of multiple rooms in parallel, in a holistic manner without hand-crafted intermediate stages. The model features two-level queries for polygons and corners, and includes polygon matching …
Floorplan-SLAM: A Real-Time, High-Accuracy, and Long-Term Multi-Session Point-Plane SLAM for Efficient Floorplan Reconstruction
State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所多模态人工智能系统国家重点实验室）；School of Artificial Intelligence, University of Chinese Academy of Sciences（中国科学院大学人工智能学院）；College of Information Science and Technology, Beijing University of Chemical Technology（北京化工大学信息科学与技术学院）
Carnegie Mellon University（卡内基梅隆大学）；Facebook Reality Labs（Facebook现实实验室）；Facebook AI Research（Facebook人工智能研究院）；University of Texas at Austin（德克萨斯大学奥斯汀分校）
Given only a few glimpses of an environment, how much can we infer about its entire floorplan? Existing methods can map only what is visible or immediately apparent from context, and thus require substantial movements through a space to fully map it. We explore how both audio and visual sensing together can provide rapid floorplan reconstruction from limited viewpoints. Audio not only helps sense geometry outside the camera's field of view, but it also reveals the existence of distant freespace (e.g., a dog barking in another room) and suggests the presence of rooms not visible to the camera (…
Analysis of indoor spaces requires topological information. In this paper, we propose to extract topological information from room attributes using what we call Iterative and adaptive graph Topology Learning (ITL). ITL progressively predicts multiple relations between rooms; at each iteration, it improves node embeddings, which in turn facilitates generation of a better topological graph structure. This notion of iterative improvement of node embeddings and topological graph structure is in the same spirit as \cite{chen2020iterative}. However, while \cite{chen2020iterative} computes the adjace…
PolyRoom: Room-aware Transformer for Floorplan Reconstruction
Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）；School of Artificial Intelligence, University of Chinese Academy of Sciences（中国科学院大学人工智能学院）；Ocean University of China（中国海洋大学）；Wuhan University（武汉大学）
We present a novel approach to align partial 3D reconstructions which may not have substantial overlap. Using floorplan priors, our method jointly predicts a room layout and estimates the transformations from a set of partial 3D data. Unlike the existing methods relying on feature descriptors to establish correspondences, we exploit the 3D "box" structure of a typical room layout that meets the Manhattan World property. We first estimate a local layout for each partial scan separately and then combine these local layouts to form a globally aligned layout with loop closure. Without the requirem…
The paper presents a novel approach for vector-floorplan generation via a diffusion model, which denoises 2D coordinates of room/door corners with two inference objectives: 1) a single-step noise as the continuous quantity to precisely invert the continuous forward process; and 2) the final 2D coordinate as the discrete quantity to establish geometric incident relationships such as parallelism, orthogonality, and corner-sharing. Our task is graph-conditioned floorplan generation, a common workflow in floorplan design. We represent a floorplan as 1D polygonal loops, each of which corresponds to…
Simon Fraser University（西蒙菲莎大学）；Sookmyung Women’s University（淑明女子大学）
The paper proposes a multi-modal sensor fusion algorithm that fuses WiFi, IMU, and floorplan information to infer an accurate and dense location history in indoor environments. The algorithm uses 1) an inertial navigation algorithm to estimate a relative motion trajectory from IMU sensor data; 2) a WiFi-based localization API in industry to obtain positional constraints and geo-localize the trajectory; and 3) a convolutional neural network to refine the location history to be consistent with the floorplan. We have developed a data acquisition app to build a new dataset with WiFi, IMU, and floo…
Wuhan University of Technology（武汉理工大学）；University of Twente（代尔夫特理工大学）；Hangzhou Institute for Advanced Study, University of Chinese Academy of Sciences（中国科学院大学杭州高等研究院）；The Advanced Laser Technology Laboratory of Anhui Province（安徽省先进激光技术实验室）
PolarSym: Polar Geometry-aware Attention for CAD Floorplan Parsing
School of Computer and Information Engineering, Henan University of Economics and Law（河南财经政法大学计算机与信息工程学院）；Third Dimension (Henan) Software Technology（第三维度（河南）软件科技公司）
FloorSAM: SAM-Guided Floorplan Reconstruction with Semantic-Geometric Fusion
College of Information Engineering, Zhejiang University of Technology（浙江工业大学信息工程学院）；Joint Laboratory of Industrial Intelligent Technologies, Russia, China（中俄工业智能技术联合实验室）；Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences（中国科学院宁波材料技术与工程研究所）；United Institute of Informatics Problems of the National Academy of Belarus（白俄罗斯国家科学院信息问题联合研究所）；Saint Petersburg Federal Research Center of the Russian Academy of Sciences（俄罗斯科学院圣彼得堡联邦科研中心）
Text-Aided Multi-Modal Panoptic Symbol Spotting for CAD Floor Plan Drawings
CCSE Lab, Beihang University（北京航空航天大学CCSE实验室）；School of Transportation Science and Engineering, Beihang University（北京航空航天大学交通科学与工程学院）；The Hong Kong Polytechnic University（香港理工大学）
