Scaled layout recovery with wide field of view RGB-D

Alejandro Pérez-Yus, Gonzalo López-Nicolás, José Jesús Guerrero

Abstract: Highlights•We propose a method to recover the scene layout with one single shot.•To achieve that we use a hybrid camera system with depth and fisheye camera.•Our method expands the depth to the fisheye image combining lines and depth.•Our layout generation process is able to overcome occlusions and complex shapes.•We obtain a 3D reconstruction fusing the initial depth and the scaled layout.