Exploiting 2D Floorplan for Building-Scale Panorama RGBD Alignment

@article{Wijmans2016Exploiting2F,
  title={Exploiting 2D Floorplan for Building-Scale Panorama RGBD Alignment},
  author={Erik Wijmans and Yasutaka Furukawa},
  journal={2017 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
  year={2016},
  pages={1427-1435}
}
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… 

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