Dense Piecewise Planar RGB-D SLAM for Indoor Environments

1 Aug 2017Phi-Hung LeJana Kosecka

The paper exploits weak Manhattan constraints to parse the structure of indoor environments from RGB-D video sequences in an online setting. We extend the previous approach for single view parsing of indoor scenes to video sequences and formulate the problem of recovering the floor plan of the environment as an optimal labeling problem solved using dynamic programming... (read more)

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