3D reconstruction of indoor scenes using a single RGB-D image

Panagiotis-Alexandros Bokaris (1) , Damien Muselet (2) , Alain Trémeau (2)

1 LIMSI - Laboratoire d'Informatique pour la Mécanique et les Sciences de l'Ingénieur
2 LHC - Laboratoire Hubert Curien

The three-dimensional reconstruction of a scene is essential for the interpretation of an environment. In this paper, a novel and robust method for the 3D reconstruction of an indoor scene using a single RGB-D image is proposed. First, the layout of the scene is identified and then, a new approach for isolating the objects in the scene is presented. Its fundamental idea is the segmentation of the whole image in planar surfaces and the merging of the ones that belong to the same object. Finally, a cuboid is fitted to each segmented object by a new RANSAC-based technique. The method is applied to various scenes and is able to provide a meaningful interpretation of these scenes even in cases with strong clutter and occlusion. In addition, a new ground truth dataset, on which the proposed method is further tested, was created. The results imply that the present work outperforms recent state-of-the-art approaches not only in accuracy but also in robustness and time complexity.

Keywords: 3D reconstruction; Cuboid fitting; Kinect; RGB-D; RANSAC; Bounding box; Point cloud; Manhattan World

Domains: Signal and Image processing

Panagiotis-Alexandros Bokaris, Damien Muselet, Alain Trémeau. 3D reconstruction of indoor scenes using a single RGB-D image. 12th International Conference on Computer Vision Theory and Applications (VISAPP 2017), Feb 2017, Porto, Portugal. ⟨ujm-01486563⟩