Will Hutchcroft

Negar Nejatishahidin, Will Hutchcroft, Manjunath Narayana et al. · uw

In this paper, we address the problem of wide-baseline camera pose estimation from a group of 360$^\circ$ panoramas under upright-camera assumption. Recent work has demonstrated the merit of deep-learning for end-to-end direct relative pose regression in 360$^\circ$ panorama pairs [11]. To exploit the benefits of multi-view logic in a learning-based framework, we introduce Graph-CoVis, which non-trivially extends CoVisPose [11] from relative two-view to global multi-view spherical camera pose estimation. Graph-CoVis is a novel Graph Neural Network based architecture that jointly learns the co-visible structure and global motion in an end-to-end and fully-supervised approach. Using the ZInD [4] dataset, which features real homes presenting wide-baselines, occlusion, and limited visual overlap, we show that our model performs competitively to state-of-the-art approaches.

Yin Yu, Hutchcroft Will, Khosravan Naji et al.

Analysis of indoor spaces requires topological information. In this paper, we propose to extract topological information from room attributes using what we call Iterative and adaptive graph Topology Learning (ITL). ITL progressively predicts multiple relations between rooms; at each iteration, it improves node embeddings, which in turn facilitates generation of a better topological graph structure. This notion of iterative improvement of node embeddings and topological graph structure is in the same spirit as \cite{chen2020iterative}. However, while \cite{chen2020iterative} computes the adjacency matrix based on node similarity, we learn the graph metric using a relational decoder to extract room correlations. Experiments using a new challenging indoor dataset validate our proposed method. Qualitative and quantitative evaluation for layout topology prediction and floorplan generation applications also demonstrate the effectiveness of ITL.

John Lambert, Yuguang Li, Ivaylo Boyadzhiev et al.

We propose a new system for automatic 2D floorplan reconstruction that is enabled by SALVe, our novel pairwise learned alignment verifier. The inputs to our system are sparsely located 360$^\circ$ panoramas, whose semantic features (windows, doors, and openings) are inferred and used to hypothesize pairwise room adjacency or overlap. SALVe initializes a pose graph, which is subsequently optimized using GTSAM. Once the room poses are computed, room layouts are inferred using HorizonNet, and the floorplan is constructed by stitching the most confident layout boundaries. We validate our system qualitatively and quantitatively as well as through ablation studies, showing that it outperforms state-of-the-art SfM systems in completeness by over 200%, without sacrificing accuracy. Our results point to the significance of our work: poses of 81% of panoramas are localized in the first 2 connected components (CCs), and 89% in the first 3 CCs. Code and models are publicly available at https://github.com/zillow/salve.