Abstract:Room layout estimation is a long-existing robotic vision task that benefits both environment sensing and motion planning. However, layout estimation using point clouds (PCs) still suffers from data scarcity due to annotation difficulty. As such, we address the semi-supervised setting of this task based upon the idea of model exponential moving averaging. But adapting this scheme to the state-of-the-art (SOTA) solution for PC-based layout estimation is not straightforward. To this end, we define a quad set matc… Show more
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