Planar Reconstruction of Indoor Scenes from Sparse Views and Relative Camera Poses

摘要

Planar reconstruction detects planar segments and deduces their 3D planar parameters (normals and offsets) from the input image; this has significant potential in the fields of digital preservation of cultural heritage, architectural design, robot navigation, intelligent transportation, and security monitoring. Existing methods mainly employ multiple-view images with limited overlap for reconstruction but lack the utilization of the relative position and rotation information between the images. To fill this gap, this paper uses two views and their relative camera pose to reconstruct indoor scene planar surfaces. Firstly, we detect plane segments with their 3D planar parameters and appearance embedding features using PlaneRCNN. Then, we transform the plane segments into a global coordinate frame using the relative camera transformation and find matched planes using the assignment algorithm. Finally, matched planes are merged by tackling a nonlinear optimization problem with a trust-region reflective minimizer. An experiment on the Matterport3D dataset demonstrates that the proposed method achieves 40.67% average precision of plane reconstruction, which is an improvement of roughly 3% over Sparse Planes, and it improves the IPAA-80 metric by 10% to 65.7%. This study can provide methodological support for 3D sensing and scene reconstruction in sparse view contexts.