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Nonparametric Directional Perception
Julian Straub
From an indoor scene to large-scale urban environments, a large fraction of man-made surfaces can be described by only a few planes with even fewer different normal directions. This sparsity is evident in the surface normal distributions, which exhibit a small number of concentrated clusters. In this work, I draw a rigorous connection between surface normal distributions and 3D structure, and explore this connection in light of different environmental assumptions to further 3D Perception.