A Slice-Guided Method of Indoor Scene Structure Retrieving

Abstract

The structure information of indoor scene is necessary for a robot who works in a room. In order to achieve structure of an indoor scene, a slice-guided method of indoor scene structure retrieving is proposed in this paper. We present a slicing based approach that transforms three-dimensional (3D) segmentations into two-dimensional (2D) segmentation and segments different kinds of primitive shapes while keeping the global topology structure of the indoor scene. The global topology structure is represented by a graph. The graph is compared with the given indoor scene template. The matched objects and the topology relation between them are finally presented. Our experiment results show that the proposed method performs well on several typical indoor scenes, even if some data are missing.