Using spatial relations of objects in real world scenes for scene structuring and scene understanding

Given a room full of individual objects in a generic household scene, one can observe that the objects are mostly not placed randomly but in a certain order. Because of this each object can be described by the surrounding objects and the spatial relations to those objects. This paper presents several types of spatial relationships that can be deduced using object positions in 3D as well as an approach to retrieve these relations from real world scenes via annotation of colored 3D pointclouds gathered with a sensor. Finally, a way to use this data to make predictions about an unknown object based on its surrounding objects is presented.