Related papers: Automatically Annotating Indoor Images with CAD Mo…

We present a user-friendly image editing system that supports a drag-and-drop object insertion (where the user merely drags objects into the image, and the system automatically places them in 3D and relights them appropriately),…

Detecting road features is a key enabler for autonomous driving and localization. For instance, a reliable detection of poles which are widespread in road environments can improve localization. Modern deep learning-based perception systems…

Full 3D scanning can efficiently be obtained using structured light scanning combined with a rotation stage. In this setting it is, however, necessary to reposition the object and scan it in different poses in order to cover the entire…

In the proposed study, we describe the possibility of automated dataset collection using an articulated robot. The proposed technology reduces the number of pixel errors on a polygonal dataset and the time spent on manual labeling of 2D…

Real-world 3D scene-level scans offer realism and can enable better real-world generalizability for downstream applications. However, challenges such as data volume, diverse annotation formats, and tool compatibility limit their use. This…

RGB-D scanning of indoor environments is important for many applications, including real estate, interior design, and virtual reality. However, it is still challenging to register RGB-D images from a hand-held camera over a long video…

Indoor rooms are among the most common use cases in 3D scene understanding. Current state-of-the-art methods for this task are driven by large annotated datasets. Room layouts are especially important, consisting of structural elements in…

We propose an approach for semi-automatic annotation of object instances. While most current methods treat object segmentation as a pixel-labeling problem, we here cast it as a polygon prediction task, mimicking how most current datasets…

Given a single photo of a room and a large database of furniture CAD models, our goal is to reconstruct a scene that is as similar as possible to the scene depicted in the photograph, and composed of objects drawn from the database. We…

In this work we address the problem of indoor scene understanding from RGB-D images. Specifically, we propose to find instances of common furniture classes, their spatial extent, and their pose with respect to generalized class models. To…

We introduce SceneNet RGB-D, expanding the previous work of SceneNet to enable large scale photorealistic rendering of indoor scene trajectories. It provides pixel-perfect ground truth for scene understanding problems such as semantic…

Annotating object ground truth in videos is vital for several downstream tasks in robot perception and machine learning, such as for evaluating the performance of an object tracker or training an image-based object detector. The accuracy of…

We propose a system that learns to detect objects and infer their 3D poses in RGB-D images. Many existing systems can identify objects and infer 3D poses, but they heavily rely on human labels and 3D annotations. The challenge here is to…

We introduce the task of 3D object localization in RGB-D scans using natural language descriptions. As input, we assume a point cloud of a scanned 3D scene along with a free-form description of a specified target object. To address this…

Image summary, an abridged version of the original visual content, can be used to represent the scene. Thus, tasks such as scene classification, identification, indexing, etc., can be performed efficiently using the unique summary. Saliency…

This paper proposes a new method for simultaneous 3D reconstruction and semantic segmentation of indoor scenes. Unlike existing methods that require recording a video using a color camera and/or a depth camera, our method only needs a small…

We show that it is possible to learn semantic segmentation from very limited amounts of manual annotations, by enforcing geometric 3D constraints between multiple views. More exactly, image locations corresponding to the same physical 3D…

We present a dataset of large-scale indoor spaces that provides a variety of mutually registered modalities from 2D, 2.5D and 3D domains, with instance-level semantic and geometric annotations. The dataset covers over 6,000m2 and contains…

Automated object detection has become increasingly valuable across diverse applications, yet efficient, high-quality annotation remains a persistent challenge. In this paper, we present the development and evaluation of a platform designed…

Semantic annotations are indispensable to train or evaluate perception models, yet very costly to acquire. This work introduces a fully automated 2D/3D labeling framework that, without any human intervention, can generate labels for RGB-D…