Stereo Plane R-CNN: Accurate Scene Geometry Reconstruction Using Planar Segments and Camera-Agnostic Representation

The letter introduces a novel method for planar segments detection and description from a stereo pair of images. The existing systems for planes detection utilize single RGB images and have accuracy- and scale-related problems regarding 3D reconstruction with the obtained planar segments. The proposed approach draws inspiration from deep-learning-based systems for plane detection and depth reconstruction. Firstly, we improve the planes detection in the image. Secondly, we enhance geometry reconstruction accuracy using a stereo setup. To achieve the 3D model of the observed planes, we introduce a novel neural network architecture and training strategy that jointly optimizes the prediction of disparity, normal vectors, and plane parameters. Moreover, the proposed approach utilizes an efficient camera-agnostic representation of the problem. Finally, we show that our system outperforms existing approaches to planar segments detection and parameters estimation and improves the reconstruction accuracy of indoor environments.