IM360: Textured Mesh Reconstruction for Large-scale Indoor Mapping with 360$^\circ$ Cameras

We present a novel 3D reconstruction pipeline for 360$^\circ$ cameras for 3D mapping and rendering of indoor environments. Traditional Structure-from-Motion (SfM) methods may not work well in large-scale indoor scenes due to the prevalence of textureless and repetitive regions. To overcome these challenges, our approach (IM360) leverages the wide field of view of omnidirectional images and integrates the spherical camera model into every core component of the SfM pipeline. In order to develop a comprehensive 3D reconstruction solution, we integrate a neural implicit surface reconstruction technique to generate high-quality surfaces from sparse input data. Additionally, we utilize a mesh-based neural rendering approach to refine texture maps and accurately capture view-dependent properties by combining diffuse and specular components. We evaluate our pipeline on large-scale indoor scenes from the Matterport3D and Stanford2D3D datasets. In practice, IM360 demonstrate superior performance in terms of textured mesh reconstruction over SOTA. We observe accuracy improvements in terms of camera localization and registration as well as rendering high frequency details.