交互平面揭示三维线框映射

摘要

基於多視角RGB影像的三維線段建圖技術能夠提供緊湊且結構化的場景視覺表徵。我們從物理與拓撲學視角重新審視該問題：三維線段最本質的起源是有限三維平面塊的邊緣。本文提出LiP-Map——一種顯式建模可學習線基元與平面基元的聯合優化框架，這種耦合機制在保證高效重建（單場景通常僅需3-5分鐘）的同時，實現了精細化的三維線段建圖。LiP-Map率先將平面拓撲結構融入三維線段建圖，並非通過施加成對共面約束，而是通過顯式構建平面與線基元間的相互作用，為人造環境中的結構化重建提供了理論完備的解決路徑。在ScanNetV2、ScanNet++、Hypersim、7Scenes和Tanks&Temple等數據集的超百個場景測試中，本方法在精度與完整性上均超越現有頂尖技術。除線段建圖質量外，LiP-Map在線段輔助視覺定位任務中取得顯著突破，於7Scenes數據集上建立了優異的性能基準。為推動可重現研究，我們已開源代碼：https://github.com/calmke/LiPMAP。

English

3D line mapping from multi-view RGB images provides a compact and structured visual representation of scenes. We study the problem from a physical and topological perspective: a 3D line most naturally emerges as the edge of a finite 3D planar patch. We present LiP-Map, a line-plane joint optimization framework that explicitly models learnable line and planar primitives. This coupling enables accurate and detailed 3D line mapping while maintaining strong efficiency (typically completing a reconstruction in 3 to 5 minutes per scene). LiP-Map pioneers the integration of planar topology into 3D line mapping, not by imposing pairwise coplanarity constraints but by explicitly constructing interactions between plane and line primitives, thus offering a principled route toward structured reconstruction in man-made environments. On more than 100 scenes from ScanNetV2, ScanNet++, Hypersim, 7Scenes, and Tanks\&Temple, LiP-Map improves both accuracy and completeness over state-of-the-art methods. Beyond line mapping quality, LiP-Map significantly advances line-assisted visual localization, establishing strong performance on 7Scenes. Our code is released at https://github.com/calmke/LiPMAP for reproducible research.

交互平面揭示三维线框映射

Interacted Planes Reveal 3D Line Mapping

摘要

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