3Dシーングラフ：意味・3D空間・カメラを統合する構造
3D Scene Graph: A Structure for Unified Semantics, 3D Space, and Camera
3Dメッシュとパノラマ画像から、物体・部屋・カメラの意味情報と関係を統合した3Dシーングラフを半自動で構築するフレームワークを提案した論文。
著者: Iro Armeni, Zhi-Yang He, JunYoung Gwak, Amir R. Zamir, Martin Fischer, Jitendra Malik, Silvio Savarese
分類: cs.CV, cs.RO
原文アブストラクト
A comprehensive semantic understanding of a scene is important for many applications - but in what space should diverse semantic information (e.g., objects, scene categories, material types, texture, etc.) be grounded and what should be its structure? Aspiring to have one unified structure that hosts diverse types of semantics, we follow the Scene Graph paradigm in 3D, generating a 3D Scene Graph. Given a 3D mesh and registered panoramic images, we construct a graph that spans the entire building and includes semantics on objects (e.g., class, material, and other attributes), rooms (e.g., scene category, volume, etc.) and cameras (e.g., location, etc.), as well as the relationships among these entities. However, this process is prohibitively labor heavy if done manually. To alleviate this we devise a semi-automatic framework that employs existing detection methods and enhances them using two main constraints: I. framing of query images sampled on panoramas to maximize the performance of 2D detectors, and II. multi-view consistency enforcement across 2D detections that originate in different camera locations.
