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Authors: Ayyappa Swamy Thatavarthy ; Tanu Sharma ; Harshit Sankhla ; Mukul Khanna and K. Madhava Krishna

Affiliation: Robotics Research Center, International Institute of Information Technology, Hyderabad, India

Keyword(s): Multi-view Planarity Constraints, Vanishing Lines, PlaneRCNN, Urban Environments, Vision for Aerial Robots.

Abstract: It is critical for aerial robots flying in city scale urban environments to make very quick estimates of a building depth with respect to itself. It should be done in a matter of few views to navigate itself, avoiding collisions with such a towering structure. As such, no one has attacked this problem. We bring together several modules combining deep learning and 3D vision to showcase a quick reconstruction in a few views. We exploit the inherent planar structure in the buildings (facades, windows) for this purpose. We evaluate the efficacy of our pipeline with various constraints and errors from multi-view geometry using ablation studies. We then retrieve the skyline of the buildings in synthetic as well as real-world scenes.

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Paper citation in several formats:
Thatavarthy, A. S., Sharma, T., Sankhla, H., Khanna, M. and Krishna, K. M. (2021). Multi-view Planarity Constraints for Skyline Estimation from UAV Images in City Scale Urban Environments. In Proceedings of the 16th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2021) - Volume 5: VISAPP; ISBN 978-989-758-488-6; ISSN 2184-4321, SciTePress, pages 852-860. DOI: 10.5220/0010208408520860

@conference{visapp21,
author={Ayyappa Swamy Thatavarthy and Tanu Sharma and Harshit Sankhla and Mukul Khanna and K. Madhava Krishna},
title={Multi-view Planarity Constraints for Skyline Estimation from UAV Images in City Scale Urban Environments},
booktitle={Proceedings of the 16th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2021) - Volume 5: VISAPP},
year={2021},
pages={852-860},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010208408520860},
isbn={978-989-758-488-6},
issn={2184-4321},
}

TY - CONF

JO - Proceedings of the 16th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2021) - Volume 5: VISAPP
TI - Multi-view Planarity Constraints for Skyline Estimation from UAV Images in City Scale Urban Environments
SN - 978-989-758-488-6
IS - 2184-4321
AU - Thatavarthy, A.
AU - Sharma, T.
AU - Sankhla, H.
AU - Khanna, M.
AU - Krishna, K.
PY - 2021
SP - 852
EP - 860
DO - 10.5220/0010208408520860
PB - SciTePress

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