SAVMap: Structure-Aided Visual Mapping of Large-Scale 2.5D Manhattan Wireframes from Panoramic Video

ArXi:2606.01939v1 Announce Type: new Precise 3D representations of industrial environments enable tasks such as robot localization and digital twin generation. We propose SAVMap, a method for generating a semantic wireframe map of warehouse shelf and light structures using only a panoramic video camera as the sensor input. Sequences of rectified images with shelf and ceiling-facing views are extracted from a panoramic video captured along the warehouse aisles.