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We introduce a novel RGB-D patch descriptor designed for detecting coplanar surfaces in SLAM reconstruction. ... from other images.We train the network on 10 million triplets of coplanar and non-coplanar patches, and evaluate on a new coplanarity benchmark created from commodity RGB-D scans. ... Acknowledgement We are grateful to Min Liu, Zhan Shi, Lintao Zheng, and Maciej Halber for their help on data preprocessing. We also thank Yizhong Zhang for the early discussions. ...arXiv:1803.08407v3 fatcat:yuv2u7aihjbafpdo3vupu3gk4u
The advent of consumer RGB-D cameras has made a profound advance in indoor scene reconstruction. ... We here review high-quality 3D indoor scene reconstruction methods using consumer RGB-D cameras. ... PlaneMatch  densely models the environment with plane information through a CNN that takes in RGB, depth, and normal information of a planar patch in an image, and outputs a descriptor to find coplanar ...doi:10.1007/s41095-021-0250-8 fatcat:z6ywcn4zujbptjaqrwkwhoyquu
We validate our approach on a toy example and present quantitative experiments on a public RGB-D dataset, comparing against recent state-of-the-art methods. ... They predict local and global patch coplanarity in different RGB-D views of a scene and aggregate all coplanarity constraints as well as point correspondences into a robust optimization framework that ... More recently, Shi et al. presented PlaneMatch  , a learning approach to planar feature matching and registration in RGB-D frames. ...arXiv:2001.07058v1 fatcat:ymhj4az3gvazfgkhpjo5ctyx4a