交互平面揭示三维线框映射

摘要

基于多视角RGB图像的三维线框映射能够为场景提供紧凑且结构化的视觉表征。本研究从物理与拓扑视角切入：三维线条最自然地呈现为有限三维平面块的边界。我们提出LiP-Map——一种显式建模可学习线与平面基元的线-平面联合优化框架。这种耦合机制在保证高效重建（单场景通常仅需3-5分钟）的同时，实现了精确细致的三维线框映射。LiP-Map开创性地将平面拓扑融入三维线框映射，并非通过施加两两共面约束，而是通过显式构建平面与线基元间的相互作用，从而为人工环境中的结构化重建提供了理论依据。在ScanNetV2、ScanNet++、Hypersim、7Scenes和Tanks&Temple等数据集的超100个场景测试中，LiP-Map在线框映射的精度与完整性上均超越现有最优方法。除线框质量提升外，该框架还显著推进了线框辅助的视觉定位任务，在7Scenes数据集上建立了卓越性能。为实现可复现研究，我们已在https://github.com/calmke/LiPMAP开源代码。

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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