Detailed 3D Model Driven Single View Scene Understanding

We present a data driven approach to holistic scene understanding. From a single image of an indoor scene, our approach estimates its detailed 3D geometry, i.e. The location of its walls and floor, and the 3D appearance of its containing objects, as well as its semantic meaning, i.e. A prediction of what objects it contains. This is made possible by using large datasets of detailed 3D models alongside appearance based detectors. We first estimate the 3D layout of a room, and extrapolate 2D object detection hypotheses to three dimensions to form bounding cuboids. Cuboids are converted to detailed 3D models of the predicted semantic category. Combinations of 3D models are used to create a large list of layout hypotheses for each image -- where each layout hypothesis is semantically meaningful and geometrically plausible. The likelihood of each layout hypothesis is ranked using a learned linear model -- and the hypothesis with the highest predicted likelihood is the final predicted 3D layout. Our approach is able to recover the detailed geometry of scenes, provide precise segmentation of objects in the image plane, and estimate objects´ pose in 3D.