Systems and methods for efficient floorplan generation from 3D scans of indoor scenes

A system, comprising:

• a processor;
• and
• memory operatively coupled to the processor and storing a sequence of instructions which, when executed by the processor, causes the processor to perform a set of acts, the set of acts comprising:
• determining a plurality of entities in a higher-dimensional space from a plurality of images captured from the higher-dimensional space, wherein the higher-dimensional space has a dimensionality greater than two;
• and
• determining an indoor scene having one or more rooms or areas and one or more walls in the higher-dimensional space at least by:
• determining one or more first labels for a first subset of entities of the plurality of entities and one or more wall labels for the one or more walls using at least the first subset;
• determining, by a neural network, one or more room labels for the one or more rooms or areas based at least in part upon the one or more first labels;
• generating one or more respective shapes for the one or more rooms or areas at least by jointly utilizing the one or more first labels, the one or more wall labels, or the one or more room labels;
• determining the indoor scene from the plurality of entities based at least in part upon the one or more respective shapes;
• determining a second subset of entities from the plurality of entities;
• obtaining, from a second subset entity in the second subset, two or more first data structures and one or more second data structures, wherein each second subset entity is used to cast at least two votes for the one or more rooms and at least one vote for the one or more walls;
• and
• determining whether the second subset entity belongs to a single room or area or more than one room or area based at least in part upon the two or more first data structures,
• wherein
• the two or more first data structures are identical when the second subset entity belongs to the single room of the one or more rooms and are distinct when the second subset entity belongs to two or more different rooms, and
• a first data structure of the two or more first data structures is determined from the second subset entity to a predicted center of a room or area of the one or more rooms, and a second data structure of the one or more second data structures is determined from the second subset entity to a center of a wall of the one or more walls.

A wearable extended reality device for generating a floorplan of an indoor scene, comprising:

• an optical system having an array of micro-displays or micro-projectors to present digital contents to an eye of a user;
• a processor coupled to the optical system;
• and
• memory operatively coupled to the processor and storing a sequence of instructions which, when executed by the processor, causes the processor to perform a set of acts, the set of acts comprising:
• determining a plurality of entities in a higher-dimensional space from a plurality of images captured from the higher-dimensional space, wherein the higher-dimensional space has a dimensionality greater than two;
• and
• determining an indoor scene having one or more rooms or areas and one or more walls in the higher-dimensional space at least by:
• determining one or more first labels for a first subset of entities of the plurality of entities and one or more wall labels for the one or more walls using at least the first subset;
• determining, by a neural network, one or more room labels for the one or more rooms or areas based at least in part upon the one or more first labels;
• generating one or more respective shapes for the one or more rooms or areas at least by jointly utilizing the one or more first labels, the one or more wall labels, or the one or more room labels;
• determining the indoor scene from the plurality of entities based at least in part upon the one or more respective shapes;
• determining a second subset of entities from the plurality of entities;
• obtaining, from a second subset entity in the second subset, two or more first data structures and one or more second data structures, wherein each second subset entity is used to cast at least two votes for the one or more rooms and at least one vote for the one or more walls;
• and
• determining whether the second subset entity belongs to a single room or area or more than one room or area based at least in part upon the two or more first data structures,
• wherein
• the two or more first data structures are identical when the second subset entity belongs to the single room of the one or more rooms and are distinct when the second subset entity belongs to two or more different rooms, and
• a first data structure of the two or more first data structures is determined from the second subset entity to a predicted center of a room or area of the one or more rooms, and a second data structure of the one or more second data structures is determined from the second subset entity to a center of a wall of the one or more walls.