Floorplan-aware camera pose refinement method and system

Abstract

A method includes receiving a floorplan of a three-dimensional (3D) structure of a scene; receiving one or more imaging scans of the scene; identifying a gravity direction for the one or more imaging scans; generating, based on the gravity direction, a boundary scan by filtering out one or more points in the one or more imaging scans having horizontal projections that deviate from other points in the one or more imaging scans by a predetermined amount; aligning the boundary scan with the floorplan; extracting one or more structural elements in the one or more imaging scans; and optimizing a three-term cost function comprising a geometric term, a floor term and, a walls term by correlating points in the one or more imaging scans corresponding to the structural elements to respective points in the floorplan.