Learning to Exploit Stability for 3D Scene Parsing
Name
7444-learning-to-exploit-stability-for-3d-scene-parsing.pdf
Description
Published version
Size
8.01 MB
Format
Adobe PDF
Checksum (MD5)
d0d9a31dc1ca5d802554b79bdd6c6521
Author(s)
Du, Yilun
Liu, Zhijian
Basevi, Hector
Leonardis, Aleš
Freenman, William T.
Tenenbaum, Joshua B.
Wu, Jiajun
Date Issued
2018
Citation
Du, Yilun, Liu, Zhijian, Basevi, Hector, Leonardis, Aleš, Freenman, William T. et al. 2018. "Learning to Exploit Stability for 3D Scene Parsing."
Version
Final published version
Abstract
© 2018 Curran Associates Inc.All rights reserved. Human scene understanding uses a variety of visual and non-visual cues to perform inference on object types, poses, and relations. Physics is a rich and universal cue that we exploit to enhance scene understanding. In this paper, we integrate the physical cue of stability into the learning process by looping in a physics engine into bottom-up recognition models, and apply it to the problem of 3D scene parsing. We first show that applying physics supervision to an existing scene understanding model increases performance, produces more stable predictions, and allows training to an equivalent performance level with fewer annotated training examples. We then present a novel architecture for 3D scene parsing named Prim R-CNN, learning to predict bounding boxes as well as their 3D size, translation, and rotation. With physics supervision, Prim R-CNN outperforms existing scene understanding approaches on this problem. Finally, we show that finetuning with physics supervision on unlabeled real images improves real domain transfer of models training on synthetic data.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://papers.nips.cc/paper/7444-learning-to-exploit-stability-for-3d-scene-parsing
