FAWN: Floor-And-Walls Normal Regularization for Direct Neural TSDF Reconstruction

arXiv:2406.12054v1 Announce Type: cross
Abstract: Leveraging 3D semantics for direct 3D reconstruction has a great potential yet unleashed. For instance, by assuming that walls are vertical, and a floor is planar and horizontal, we can correct distorted room shapes and eliminate local artifacts such as holes, pits, and hills. In this paper, we propose FAWN, a modification of truncated signed distance function (TSDF) reconstruction methods, which considers scene structure by detecting walls and floor in a scene, and penalizing the …

3d reconstruction abstract arxiv cs.cv cs.lg instance normal potential regularization room semantics type