Parametric top-view representation of scenes

A computer program product comprising a non-transitory computer readable storage medium having program instructions embodied therewith, the program instructions executable by a computer to cause the computer to perform a method for implementing parametric models for scene representation to improve autonomous task performance, the method performed by the computer comprising:

• generating an initial map of a scene based on at least one image corresponding to a perspective view of the scene, the initial map including a non-parametric top-view representation of the scene;
• implementing a parametric model to obtain a scene element representation based on the initial map, the scene element representation providing a description of one or more scene elements of the scene and corresponding to an estimated semantic layout of the scene;
• identifying one or more predicted locations of the one or more scene elements by performing three-dimensional localization based on the at least one image;
• and
• obtaining an overlay for performing an autonomous task by placing the one or more scene elements with the one or more respective predicted locations onto the scene element representation.

A system for implementing parametric models for scene representation to improve autonomous task performance, comprising:

• a memory device for storing program code;
• and
• at least one processor device operatively coupled to a memory device and configured to execute program code stored on the memory device to:
• generate an initial map of a scene based on at least one image corresponding to a perspective view of the scene, the initial map including a non-parametric top-view representation of the scene;
• implement a parametric model to obtain a scene element representation based on the initial map, the scene element representation providing a description of one or more scene elements of the scene and corresponding to an estimated semantic layout of the scene;
• identify one or more predicted locations of the one or more scene elements by performing three-dimensional localization based on the at least one image;
• and
• obtain an overlay for performing an autonomous task by placing the one or more scene elements with the one or more respective predicted locations onto the scene element representation.