Abstract
Performing single image holistic understanding and 3D reconstruction is a central task in computer vision. This paper presents an integrated system that performs holistic image segmentation, object detection, instance segmentation, depth estimation, and object instance 3D reconstruction for indoor and outdoor scenes from a single RGB image. We name our system panoptic 3D parsing in which panoptic segmentation ("stuff" segmentation and "things" detection/segmentation) with 3D reconstruction is performed. We design a stage-wise system where a complete set of annotations is absent. Additionally, we present an end-to-end pipeline trained on a synthetic dataset with a full set of annotations. We show results on both indoor (3D-FRONT) and outdoor (COCO and Cityscapes) scenes. Our proposed panoptic 3D parsing framework points to a promising direction in computer vision. It can be applied to various applications, including autonomous driving, mapping, robotics, design, computer graphics, robotics, human-computer interaction, and augmented reality.
Abstract (translated)
URL
https://arxiv.org/abs/2111.03039
