Related papers: Robust Shape Fitting for 3D Scene Abstraction

Humans perceive and construct the surrounding world as an arrangement of simple parametric models. In particular, man-made environments commonly consist of volumetric primitives such as cuboids or cylinders. Inferring these primitives is an…

The abstraction of 3D objects with simple geometric primitives like cuboids allows to infer structural information from complex geometry. It is important for 3D shape understanding, structural analysis and geometric modeling. We introduce a…

This paper presents a novel framework for compactly representing a 3D indoor scene using a set of polycuboids through a deep learning-based fitting method. Indoor scenes mainly consist of man-made objects, such as furniture, which often…

We describe a method to parse a complex, cluttered indoor scene into primitives which offer a parsimonious abstraction of scene structure. Our primitives are simple convexes. Our method uses a learned regression procedure to parse a scene…

To identify and fit geometric primitives (e.g., planes, spheres, cylinders, cones) in a noisy point cloud is a challenging yet beneficial task for fields such as robotics and reverse engineering. As a multi-model multi-instance fitting…

We present a novel approach for indoor scene synthesis, which learns to arrange decomposed cuboid primitives to represent 3D objects within a scene. Unlike conventional methods that use bounding boxes to determine the placement and scale of…

We present a new pipeline for holistic 3D scene understanding from a single image, which could predict object shapes, object poses, and scene layout. As it is a highly ill-posed problem, existing methods usually suffer from inaccurate…

Impressive progress in 3D shape extraction led to representations that can capture object geometries with high fidelity. In parallel, primitive-based methods seek to represent objects as semantically consistent part arrangements. However,…

Augmented Reality (AR) applications necessitates methods of inserting needed objects into scenes captured by cameras in a way that is coherent with the surroundings. Common AR applications require the insertion of predefined 3D objects with…

Accurate 3D shape abstraction from a single 2D image is a long-standing problem in computer vision and graphics. By leveraging a set of primitives to represent the target shape, recent methods have achieved promising results. However, these…

Reconstructing 3D object from a single image (RGB or depth) is a fundamental problem in visual scene understanding and yet remains challenging due to its ill-posed nature and complexity in real-world scenes. To address those challenges, we…

Given a set of calibrated images of a scene, we present an approach that produces a simple, compact, and actionable 3D world representation by means of 3D primitives. While many approaches focus on recovering high-fidelity 3D scenes, we…

Representing complex 3D objects as simple geometric primitives, known as shape abstraction, is important for geometric modeling, structural analysis, and shape synthesis. In this paper, we propose an unsupervised shape abstraction method to…

Robotic systems often require precise scene analysis capabilities, especially in unstructured, cluttered situations, as occurring in human-made environments. While current deep-learning based methods yield good estimates of object poses,…

Modern 3D semantic scene graph estimation methods utilize ground truth 3D annotations to accurately predict target objects, predicates, and relationships. In the absence of given 3D ground truth representations, we explore leveraging only…

3D Shape representation has substantial effects on 3D shape reconstruction. Primitive-based representations approximate a 3D shape mainly by a set of simple implicit primitives, but the low geometrical complexity of the primitives limits…

Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…

We introduce abstract rendering, a method for computing a set of images by rendering a scene from a continuously varying range of camera positions. The resulting abstract image-which encodes an infinite collection of possible renderings-is…

Describing a scene in terms of primitives -- geometrically simple shapes that offer a parsimonious but accurate abstraction of structure -- is an established and difficult fitting problem. Different scenes require different numbers of…

Coarse room layout estimation provides important geometric cues for many downstream tasks. Current state-of-the-art methods are predominantly based on single views and often assume panoramic images. We introduce PixCuboid, an…