Semantic Visual Understanding of Indoor Environments: From Structures to Opportunities for Action

@article{Tsai2014SemanticVU,
  title={Semantic Visual Understanding of Indoor Environments: From Structures to Opportunities for Action},
  author={Grace Tsai and Collin Johnson and Benjamin Kuipers},
  journal={2014 IEEE Conference on Computer Vision and Pattern Recognition Workshops},
  year={2014},
  pages={373-380}
}
We present a two-layer representation of the locally sensed 3D indoor environment. Our representation moves one step forward from capturing the geometric structure of the environment to reason about the navigation opportunities for an agent in the environment. The first layer is the Planar Semantic Model (PSM), a geometric representation in terms of meaningful planes (ground and walls). PSM captures more semantics of the indoor environment than a pure planar model because it represents a richer… CONTINUE READING

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