Visual Navigation Using Projection of Spatial Right-Angle In Indoor Environment

摘要

Helping robots understand indoor scenes has considerable value in computer vision. However, due to the diversity of indoor scenes, understanding them remains a big challenge. There are many spatial right-angles in indoor scenes. These spatial right-angles are projected into diverse 2D projections. These projections can be considered a composition of a pair of lines (line-pairs). Given the vanishing points (VPs), line segments can be assigned to 1 of 3 main orthogonal directions. The line-pairs (intersection of 2 lines), such that each of them converges to a different VP, are likely to be the projection of a spatial right-angle onto the image plane. These projections may enable us to estimate their original orientation and position in 3D scenes. In this paper, we presented a method to efficiently understand indoor scenes from a single image, without training or any knowledge of the camera's internal calibration. Through geometric inference of line-pairs, it is possible to find these spatial right-angle projections. Then, these projections can be assigned to different clusters, and the line that lies in the neighbor-cluster helps us estimate the layout of the indoor scene. The proposed approach required no prior training. We compared the room layout estimated by our algorithm against the room box ground truth, measuring the percentage of pixels that were correctly classified. These experiments showed that our method estimated not only room layout, but also details of the indoor scene.