# AiSDF: Structure-aware Neural Signed Distance Fields in Indoor Scenes

arXiv: https://arxiv.org/abs/2403.01861 · HTML: https://mlsanity.com/paper/2403.01861/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 26 of its 43 references that are in the map.
- First posted on arXiv 4 Mar 2024.

## Builds on (most cited first, 26 of 26)

- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes](https://mlsanity.com/paper/1702.04405/) (2017)
- [DeepSDF: Learning Continuous Signed Distance Functions for Shape Representation](https://mlsanity.com/paper/1901.05103/) (2019)
- [Occupancy Networks: Learning 3D Reconstruction in Function Space](https://mlsanity.com/paper/1812.03828/) (2018)
- [NeuS: Learning Neural Implicit Surfaces by Volume Rendering for Multi-view Reconstruction](https://mlsanity.com/paper/2106.10689/) (2021)
- [Volume Rendering of Neural Implicit Surfaces](https://mlsanity.com/paper/2106.12052/) (2021)
- [The Replica Dataset: A Digital Replica of Indoor Spaces](https://mlsanity.com/paper/1906.05797/) (2019)
- [Implicit Geometric Regularization for Learning Shapes](https://mlsanity.com/paper/2002.10099/) (2020)
- [NICE-SLAM: Neural Implicit Scalable Encoding for SLAM](https://mlsanity.com/paper/2112.12130/) (2021)
- [Habitat 2.0: Training Home Assistants to Rearrange their Habitat](https://mlsanity.com/paper/2106.14405/) (2021)
- [iMAP: Implicit Mapping and Positioning in Real-Time](https://mlsanity.com/paper/2103.12352/) (2021)
- [MonoSDF: Exploring Monocular Geometric Cues for Neural Implicit Surface Reconstruction](https://mlsanity.com/paper/2206.00665/) (2022)
- [Neural RGB-D Surface Reconstruction](https://mlsanity.com/paper/2104.04532/) (2021)
- [NeuralRecon: Real-Time Coherent 3D Reconstruction from Monocular Video](https://mlsanity.com/paper/2104.00681/) (2021)
- [AutoSDF: Shape Priors for 3D Completion, Reconstruction and Generation](https://mlsanity.com/paper/2203.09516/) (2022)
- [Atlas: End-to-End 3D Scene Reconstruction from Posed Images](https://mlsanity.com/paper/2003.10432/) (2020)
- [SDFDiff: Differentiable Rendering of Signed Distance Fields for 3D Shape Optimization](https://mlsanity.com/paper/1912.07109/) (2019)
- [Voxblox: Incremental 3D Euclidean Signed Distance Fields for On-Board MAV Planning](https://mlsanity.com/paper/1611.03631/) (2016)
- [NeuRIS: Neural Reconstruction of Indoor Scenes Using Normal Priors](https://mlsanity.com/paper/2206.13597/) (2022)
- [Neural 3D Scene Reconstruction with the Manhattan-world Assumption](https://mlsanity.com/paper/2205.02836/) (2022)
- [iSDF: Real-Time Neural Signed Distance Fields for Robot Perception](https://mlsanity.com/paper/2204.02296/) (2022)
- [Continual Neural Mapping: Learning An Implicit Scene Representation from Sequential Observations](https://mlsanity.com/paper/2108.05851/) (2021)
- [SurfelMeshing: Online Surfel-Based Mesh Reconstruction](https://mlsanity.com/paper/1810.00729/) (2018)
- [Instant Continual Learning of Neural Radiance Fields](https://mlsanity.com/paper/2309.01811/) (2023)
- [Footstep Planning for Autonomous Walking Over Rough Terrain](https://mlsanity.com/paper/1907.08673/) (2019)
- [Neural Poisson: Indicator Functions for Neural Fields](https://mlsanity.com/paper/2211.14249/) (2022)

## Abstract (arXiv)

Indoor scenes we are living in are visually homogenous or textureless, while they inherently have structural forms and provide enough structural priors for 3D scene reconstruction. Motivated by this fact, we propose a structure-aware online signed distance fields (SDF) reconstruction framework in indoor scenes, especially under the Atlanta world (AW) assumption. Thus, we dub this incremental SDF reconstruction for AW as AiSDF. Within the online framework, we infer the underlying Atlanta structure of a given scene and then estimate planar surfel regions supporting the Atlanta structure. This Atlanta-aware surfel representation provides an explicit planar map for a given scene. In addition, based on these Atlanta planar surfel regions, we adaptively sample and constrain the structural regularity in the SDF reconstruction, which enables us to improve the reconstruction quality by maintaining a high-level structure while enhancing the details of a given scene. We evaluate the proposed AiSDF on the ScanNet and ReplicaCAD datasets, where we demonstrate that the proposed framework is capable of reconstructing fine details of objects implicitly, as well as structures explicitly in room-scale scenes.