Free your Camera: 3D Indoor Scene Understanding from Arbitrary Camera Motion

Many works have been presented for indoor scene understanding, yet few of them combine structural reasoning with full motion estimation in a real-time oriented approach. In this work we address the problem of estimating the 3D structural layout of complex and cluttered indoor scenes from monocular video sequences, where the observer can freely move in the surrounding space. We propose an effective probabilistic formulation that allows us to generate, evaluate and optimize layout hypotheses by integrating new image evidence as the observer moves. Compared to state-of-the-art work, our approach makes significantly less limiting hypotheses about the scene and the observer (e.g., Manhattan world assumption, known camera motion). We introduce a new challenging dataset and present an extensive experimental evaluation, which demonstrates that our formulation reaches near-real-time computation time and outperforms state-of-the-art methods while operating in significantly less constrained conditions.