{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/exploiting-2d-floorplan-for-building-scale","title":"Exploiting 2D Floorplan for Building-scale Panorama RGBD Alignment","arxiv_id":"1612.02859","date":"2016-12-08","proceeding":"CVPR 2017 7","authors":["Erik Wijmans","Yasutaka Furukawa"],"abstract":"This paper presents a novel algorithm that utilizes a 2D floorplan to align\npanorama RGBD scans. While effective panorama RGBD alignment techniques exist,\nsuch a system requires extremely dense RGBD image sampling. Our approach can\nsignificantly reduce the number of necessary scans with the aid of a floorplan\nimage. We formulate a novel Markov Random Field inference problem as a scan\nplacement over the floorplan, as opposed to the conventional scan-to-scan\nalignment. The technical contributions lie in multi-modal image correspondence\ncues (between scans and schematic floorplan) as well as a novel coverage\npotential avoiding an inherent stacking bias. The proposed approach has been\nevaluated on five challenging large indoor spaces. To the best of our\nknowledge, we present the first effective system that utilizes a 2D floorplan\nimage for building-scale 3D pointcloud alignment. The source code and the data\nwill be shared with the community to further enhance indoor mapping research.","url_abs":"http://arxiv.org/abs/1612.02859v1","url_pdf":"http://arxiv.org/pdf/1612.02859v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"exploiting-2d-floorplan-for-building-scale","repo_url":"https://github.com/erikwijmans/WashU-Research","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=1612.02859","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}