Floorplan-aware camera pose refinement method and system

A system for floorplan-aware camera pose refinement, the system comprising:

• a memory storing instructions;
• and
• at least one processor operatively coupled to the memory and configured to execute the one or more instructions stored in the memory,
• wherein the one or more instructions, when executed by the at least one processor, cause the system to:
• receive a floorplan of three-dimensional (3D) structure of a scene which reflects the prior structure of the scene;
• receive one or more imaging scans of the scene;
• identify a gravity direction for the one or more imaging scans;
• generate, based on the gravity detection, a boundary scan by filtering out one or more points in the one or more imaging scans having horizontal projections that deviate from other points in the one or more imaging scans by a predetermined amount;
• align the boundary scan with the floorplan;
• extract one or more structural elements in the one or more imaging scans;
• and
• optimize a three-term cost function comprising a geometric term, a floor term, and a walls term by correlating points in the one or more imaging scan corresponding to the one or more structural elements, to respective points in the floorplan.

A non-transitory computer readable medium having instructions stored therein, which when executed by a processor cause the processor to execute a method comprising:

• receiving a floorplan of a three-dimensional (3D) structure of a scene;
• receiving one or more imaging scans of the scene;
• identifying a gravity direction for the one or more imaging scans;
• generating, based on the gravity direction, a boundary scan by filtering out one or more points in the one or more imaging scans having horizontal projections that deviate from other points in the one or more imaging scans by a predetermined amount;
• aligning the boundary scan with the floorplan;
• extracting one or more structural elements in the one or more imaging scans;
• and
• optimizing a three-term cost function comprising a geometric term, a floor term and, a walls term by correlating points in the one or more imaging scans corresponding to the one or more structural elements to respective points in the floorplan.

The non-transitory computer readable medium 15, wherein the correlating the points in the one or more imaging scans to the respective points in the floorplan comprises:

• clustering a plurality of the points in the one or more imaging scans based on a normal of the plurality of points into one or more clusters of points;
• fitting one or more vertical wall planes for the one or more clusters of points by defining the one or more vertical wall planes such that a deviation of points in the one or more clusters from a given plane is minimized;
• matching the one or more vertical wall planes with respective floorplan wall planes;
• calculating a point-plane distance for each pair of a given point cluster and a respective vertical wall plane;
• and
• obtaining the walls term Lwalls by summing the point-plane distances.