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3D floor plan recovery from overlapping spherical images

Abstract

We present a novel approach to automatically recover, from a small set of partially overlapping spherical images, an indoor structure representation in terms of a 3D floor plan registered with a set of 3D environment maps. We introduce several improvements over previous approaches based on color and spatial reasoning exploiting Manhattan world priors. In particular, we introduce a new method for geometric context extraction based on a 3D facet representation, which combines color distribution analysis of individual images with sparse multi-view clues. We also introduce an efficient method to combine the facets from different viewpoints in a single consistent model, taking into the reliability of the facet information. The resulting capture and reconstruction pipeline automatically generates 3D multi-room environments in cases where most previous approaches fail, e.g., in the presence of hidden corners and large clutter, without the need for additional dense 3D data or tools. We demonstrate the effectiveness and performance of our approach on different real-world indoor scenes. Our test data is available to allow further studies and comparisons.

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Acknowledgements

This work was partially supported by projects VIGEC and 3DCLOUDPRO. The authors also acknowledge the contribution of the Sardinian Regional Authorities.

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Correspondence to Giovanni Pintore.

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Giovanni Pintore is a researcher in the Visual Computing (ViC) group at the Center for Advanced Studies, Research, and Development in Sardinia (CRS4). He holds a Laurea (M.Sc.) degree (2002) in electronic engineering from the University of Cagliari. His research interests include multiresolution representations of large and complex 3D models, lightfield displays, reconstruction and rendering of architectural scenes exploiting mobile devices, and the new generation of mobile spherical cameras.

Fabio Ganovelli is a researcher in the Visual Computing Lab at ISTI-CNR in Pisa. He holds a Laurea (1995) and a Ph.D. degree (2001) in computer science from the University of Pisa. His research spans many areas of computer graphics and computer vision and has widely published in major journals and conferences.

Ruggero Pintus is a researcher in the Visual Computing (ViC) group at the Center for Advanced Studies, Research, and Development in Sardinia (CRS4). He holds a Laurea (M.Sc., 2003) and a Ph.D. degree (2007) in electronic engineering from the University of Cagliari, Italy. His research currently focuses on acquisition, processing, and rendering of complex 3D models.

Roberto Scopigno graduated in computer science at the University of Pisa in 1984. He is a research director with CNR-ISTI and leads the Visual Computing Lab. He has been engaged in research projects concerned with scientific visualization, multi-resolution technologies, 3D range digitization, and CH applications. He has published more than 200 papers in international journals and conferences.

Enrico Gobbetti is the director of Visual Computing (ViC) group at the Center for Advanced Studies, Research, and Development in Sardinia (CRS4), Italy. He holds an engineering degree (1989) and a Ph.D. degree (1993) in computer science from the Swiss Federal Institute of Technology in Lausanne (EPFL). Prior to joining CRS4, he held research and teaching positions at EPFL, UMBC, and NASA. Enrico’s research spans many areas of visual computing and has widely published in major journals and conferences.

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Pintore, G., Ganovelli, F., Pintus, R. et al. 3D floor plan recovery from overlapping spherical images. Comp. Visual Media 4, 367–383 (2018). https://doi.org/10.1007/s41095-018-0125-9

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Keywords

  • indoor reconstruction
  • spherical panoramic cameras
  • 360 degree photography
  • multi-room environments