The mapping from color to segment label are as follows: Red - Wall, Green - Door, Blue - Other. The Cyan lines are the inferred lines.


Conditional Inference Results:

HMCS v.s Simulated Tempering v.s Gibbs

  Results at 1 min

  Results at 10 min

  Results at 100 min

Joint (HMCS) v.s Pipeline (MCS+LSR)


MAP Inference Results:

HMWS v.s Simulated Annealing

  Results at 1 sec

  Results at 100 sec

  Results at 1000 sec

Joint (HMWS) v.s Pipeline (MWS+LSR)