One major goal of vision is to infer physical models of objects, surfaces, and their layout from sensors. In this paper, we aim to interpret indoor scenes from one RGBD image. Our representation encodes the layout of walls, which must conform to a Manhattan structure but is otherwise flexible, and the layout and extent of objects, modeled with CAD-like 3D shapes. We represent both the visible and occluded portions of the scene, producing a complete 3D parse. Such a scene interpretation is useful for robotics and visual reasoning, but difficult to produce due to the well-known challenge of segmentation, the high degree of occlusion, and the diversity of objects in indoor scene. We take a data-driven approach, generating sets of potential object regions, matching to regions in training images, and transferring and aligning associated 3D models while encouraging fit to observations and overall consistency. We demonstrate encouraging results on the NYU v2 dataset and highlight a variety of interesting directions for future work.
are also often modeled as 3D boxes when estimating from RGB images @cite_20 @cite_19 @cite_40 @cite_39 @cite_24 or RGB-D images @cite_39 . But cuboids do not provide good shape approximations to chairs, tables, sofas, and many other common objects. Another approach is to fit CAD-like models to depicted objects. Within RGB images, @cite_0 @cite_15 find furniture instances, and @cite_3 recognize chairs using HOG-based part detectors. In RGB-D images, Song and Xiao @cite_13 search for chairs, beds, toilets, sofas, and tables by sliding 3D windows and enumerating all possible poses. Our approach does not aim to categorize objects but to find an approximate shape for any object, which could be from a rare or nonexistent category in the training set. We take an exemplar-based approach, conjecturing that a similar looking object from a different category can often still provide a good approximation to 3D extent. Incorporating category-based 3D detection, such as @cite_13 , is a promising direction for future work.
@cite_3 @cite_39 @cite_24 @cite_19 @cite_40 @cite_0 @cite_15 @cite_13 @cite_20
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We develop new representations and algorithms for three-dimensional (3D) object detection and spatial layout prediction in cluttered indoor scenes. RGB-D images are traditionally described by local geometric features of the 3D point cloud. We propose a cloud of oriented gradient (COG) descriptor that links the 2D appearance and 3D pose of object categories, and thus accurately models how perspective projection affects perceived image boundaries. We also propose a "Manhattan voxel" representation which better captures the 3D room layout geometry of common indoor environments. Effective classification rules are learned via a structured prediction framework that accounts for the intersection-over-union overlap of hypothesized 3D cuboids with human annotations, as well as orientation estimation errors. Contextual relationships among categories and layout are captured via a cascade of classifiers, leading to holistic scene hypotheses with improved accuracy. Our model is learned solely from annotated RGB-D images, without the benefit of CAD models, but nevertheless its performance substantially exceeds the state-of-the-art on the SUN RGB-D database. Avoiding CAD models allows easier learning of detectors for many object categories. This paper poses object category detection in images as a type of 2D-to-3D alignment problem, utilizing the large quantities of 3D CAD models that have been made publicly available online. Using the "chair" class as a running example, we propose an exemplar-based 3D category representation, which can explicitly model chairs of different styles as well as the large variation in viewpoint. We develop an approach to establish part-based correspondences between 3D CAD models and real photographs. This is achieved by (i) representing each 3D model using a set of view-dependent mid-level visual elements learned from synthesized views in a discriminative fashion, (ii) carefully calibrating the individual element detectors on a common dataset of negative images, and (iii) matching visual elements to the test image allowing for small mutual deformations but preserving the viewpoint and style constraints. We demonstrate the ability of our system to align 3D models with 2D objects in the challenging PASCAL VOC images, which depict a wide variety of chairs in complex scenes. We develop a comprehensive Bayesian generative model for understanding indoor scenes. While it is common in this domain to approximate objects with 3D bounding boxes, we propose using strong representations with finer granularity. For example, we model a chair as a set of four legs, a seat and a backrest. We find that modeling detailed geometry improves recognition and reconstruction, and enables more refined use of appearance for scene understanding. We demonstrate this with a new likelihood function that rewards 3D object hypotheses whose 2D projection is more uniform in color distribution. Such a measure would be confused by background pixels if we used a bounding box to represent a concave object like a chair. Complex objects are modeled using a set or re-usable 3D parts, and we show that this representation captures much of the variation among object instances with relatively few parameters. We also designed specific data-driven inference mechanisms for each part that are shared by all objects containing that part, which helps make inference transparent to the modeler. Further, we show how to exploit contextual relationships to detect more objects, by, for example, proposing chairs around and underneath tables. We present results showing the benefits of each of these innovations. The performance of our approach often exceeds that of state-of-the-art methods on the two tasks of room layout estimation and object recognition, as evaluated on two bench mark data sets used in this domain. We introduce a novel method for 3D object detection and pose estimation from color images only. We first use segmentation to detect the objects of interest in 2D even in presence of partial occlusions and cluttered background. By contrast with recent patch-based methods, we rely on a “holistic” approach: We apply to the detected objects a Convolutional Neural Network (CNN) trained to predict their 3D poses in the form of 2D projections of the corners of their 3D bounding boxes. This, however, is not sufficient for handling objects from the recent T-LESS dataset: These objects exhibit an axis of rotational symmetry, and the similarity of two images of such an object under two different poses makes training the CNN challenging. We solve this problem by restricting the range of poses used for training, and by introducing a classifier to identify the range of a pose at run-time before estimating it. We also use an optional additional step that refines the predicted poses. We improve the state-of-the-art on the LINEMOD dataset from 73.7 [2] to 89.3 of correctly registered RGB frames. We are also the first to report results on the Occlusion dataset [1 ] using color images only. We obtain 54 of frames passing the Pose 6D criterion on average on several sequences of the T-LESS dataset, compared to the 67 of the state-of-the-art [10] on the same sequences which uses both color and depth. The full approach is also scalable, as a single network can be trained for multiple objects simultaneously. In this paper we consider the problem of recovering the free space of an indoor scene from its single image. We show that exploiting the box like geometric structure of furniture and constraints provided by the scene, allows us to recover the extent of major furniture objects in 3D. Our “boxy” detector localizes box shaped objects oriented parallel to the scene across different scales and object types, and thus blocks out the occupied space in the scene. To localize the objects more accurately in 3D we introduce a set of specially designed features that capture the floor contact points of the objects. Image based metrics are not very indicative of performance in 3D. We make the first attempt to evaluate single view based occupancy estimates for 3D errors and propose several task driven performance measures towards it. On our dataset of 592 indoor images marked with full 3D geometry of the scene, we show that: (a) our detector works well using image based metrics; (b) our refinement method produces significant improvements in localization in 3D; and (c) if one evaluates using 3D metrics, our method offers major improvements over other single view based scene geometry estimation methods. In this paper, we address the problems of contour detection, bottom-up grouping, object detection and semantic segmentation on RGB-D data. We focus on the challenging setting of cluttered indoor scenes, and evaluate our approach on the recently introduced NYU-Depth V2 (NYUD2) dataset (, ECCV, 2012). We propose algorithms for object boundary detection and hierarchical segmentation that generalize the @math gPb-ucm approach of (TPAMI, 2011) by making effective use of depth information. We show that our system can label each contour with its type (depth, normal or albedo). We also propose a generic method for long-range amodal completion of surfaces and show its effectiveness in grouping. We train RGB-D object detectors by analyzing and computing histogram of oriented gradients on the depth image and using them with deformable part models (, TPAMI, 2010). We observe that this simple strategy for training object detectors significantly outperforms more complicated models in the literature. We then turn to the problem of semantic segmentation for which we propose an approach that classifies superpixels into the dominant object categories in the NYUD2 dataset. We design generic and class-specific features to encode the appearance and geometry of objects. We also show that additional features computed from RGB-D object detectors and scene classifiers further improves semantic segmentation accuracy. In all of these tasks, we report significant improvements over the state-of-the-art. Inexpensive RGB-D cameras that give an RGB image together with depth data have become widely available. In this paper, we use this data to build 3D point clouds of full indoor scenes such as an office and address the task of semantic labeling of these 3D point clouds. We propose a graphical model that captures various features and contextual relations, including the local visual appearance and shape cues, object co-occurence relationships and geometric relationships. With a large number of object classes and relations, the model's parsimony becomes important and we address that by using multiple types of edge potentials. The model admits efficient approximate inference, and we train it using a maximum-margin learning approach. In our experiments over a total of 52 3D scenes of homes and offices (composed from about 550 views, having 2495 segments labeled with 27 object classes), we get a performance of 84.06 in labeling 17 object classes for offices, and 73.38 in labeling 17 object classes for home scenes. Finally, we applied these algorithms successfully on a mobile robot for the task of finding objects in large cluttered rooms. This paper addresses the problem of RGBD object recognition in real-world applications, where large amounts of annotated training data are typically unavailable. To overcome this problem, we propose a novel, weakly-supervised learning architecture (DCNN-GPC) which combines parametric models (a pair of Deep Convolutional Neural Networks (DCNN) for RGB and D modalities) with non-parametric models (Gaussian Process Classification). Our system is initially trained using a small amount of labeled data, and then automatically prop- agates labels to large-scale unlabeled data. We first run 3D- based objectness detection on RGBD videos to acquire many unlabeled object proposals, and then employ DCNN-GPC to label them. As a result, our multi-modal DCNN can be trained end-to-end using only a small amount of human annotation. Finally, our 3D-based objectness detection and multi-modal DCNN are integrated into a real-time detection and recognition pipeline. In our approach, bounding-box annotations are not required and boundary-aware detection is achieved. We also propose a novel way to pretrain a DCNN for the depth modality, by training on virtual depth images projected from CAD models. We pretrain our multi-modal DCNN on public 3D datasets, achieving performance comparable to state-of-the-art methods on Washington RGBS Dataset. We then finetune the network by further training on a small amount of annotated data from our novel dataset of industrial objects (nuclear waste simulants). Our weakly supervised approach has demonstrated to be highly effective in solving a novel RGBD object recognition application which lacks of human annotations. In this paper, we present an approach to predict the extent and height of supporting surfaces such as tables, chairs, and cabinet tops from a single RGBD image. We define support surfaces to be horizontal, planar surfaces that can physically support objects and humans. Given a RGBD image, our goal is to localize the height and full extent of such surfaces in 3D space. To achieve this, we created a labeling tool and annotated 1449 images with rich, complete 3D scene models in NYU dataset. We extract ground truth from the annotated dataset and developed a pipeline for predicting floor space, walls, the height and full extent of support surfaces. Finally we match the predicted extent with annotated scenes in training scenes and transfer the the support surface configuration from training scenes. We evaluate the proposed approach in our dataset and demonstrate its effectiveness in understanding scenes in 3D space.