Abstract

We consider the problem of estimating 3-d structure from a single still image of an outdoor urban scene. Our goal is to efficiently create 3-d models which are visually pleasant. We chose an appropri- ate 3-d model structure and formulate the task of 3-d reconstruction as model fitting problem. Our 3-d models are composed of a number of vertical walls and a ground plane, where ground-vertical boundary is a continuous polyline. We achieve computational efficiency by special preprocessing together with stepwise search of 3-d model parameters di- viding the problem into two smaller sub-problems on chain graphs. The use of Conditional Random Field models for both problems allows to var- ious cues. We infer orientation of vertical walls of 3-d model vanishing points.