Camera Visual Localization Using 2D Floorplans and Neural Rays
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Solution Overview
Problem
Visual localization using 3D representations of environments is computationally expensive and requires significant storage, making it inefficient for applications like augmented reality and robotics, especially in unvisited environments.
Innovation Solution
Utilize a 2D floorplan and a trained neural network to predict an array of rays from a camera's viewpoint to surfaces in the environment, allowing for efficient computation of 2D position and orientation without the need for a 3D model.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a 3D representation of the environment is constructed using point clouds from a depth sensor, then measurement precision of camera position and orientation is improved, but computational burden and processing time increase significantly
Solution Approach 1:
The patent transforms the localization problem from 3D space to 2D by using floorplan representations instead of 3D point cloud reconstructions. The neural network processes 2D images and predicts 2D camera position and orientation relative to the floorplan, eliminating the need for computationally intensive 3D environment modeling while maintaining localization accuracy.
Solution Approach 2:
The patent creates a simplified 2D copy of the 3D environment through floorplan representations. Instead of working with the full 3D point cloud data, the system uses a 2D schematic representation that captures essential spatial information needed for localization, significantly reducing computational requirements while preserving measurement precision.
2Measurement precision
If a 3D representation of the environment is constructed, then measurement precision is improved, but storage requirements and device complexity increase
Solution Approach 1:
The patent extracts only the essential 2D spatial information needed for localization from the 3D environment representation. By removing unnecessary 3D geometric data and focusing on 2D floorplan representations with key spatial features, the system achieves the required measurement precision with significantly reduced device complexity and storage requirements.
Solution Approach 2:
The system transitions from 3D environmental representations to 2D floorplan-based representations, reducing the dimensionality of data processing. This dimensional reduction simplifies the computational graph and reduces the complexity of neural network operations while maintaining the ability to accurately determine camera position and orientation.
3Adaptability or versatility
If a 3D representation is constructed for each environment, then adaptability to new environments is improved, but construction time and processing load increase
Solution Approach 1:
The patent assumes that 2D floorplan representations are pre-available for environments, eliminating the need to construct 3D representations from scratch for each new environment. The system leverages these pre-existing 2D maps combined with neural network inference to achieve rapid adaptation to new environments without time-consuming 3D reconstruction.
Solution Approach 2:
By using 2D floorplan representations instead of constructing 3D point cloud models for each environment, the system dramatically reduces the time and computational resources required for environment setup. The 2D representation approach allows for rapid adaptation to new spaces without the lengthy process of 3D scanning and reconstruction.
Data Source
AI summary
Examples describe using a two dimensional floor plan, rather than a three dimensional (3D) reconstruction of a scene, to localize a camera. A floorplan of an environment is accessed and an image of the environment captured by a camera in the environment is received. The image is input to a trained neural network to predict an array of rays from the camera to surfaces in the environment indicated in the floorplan. Using the array of rays it is then possible to compute 3D position and orientation of the camera with respect to the floorplan.