3D Scene Grammar for Parsing RGB-D Pointclouds

11/08/2012
by   Abhishek Anand, et al.
0

We pose 3D scene-understanding as a problem of parsing in a grammar. A grammar helps us capture the compositional structure of real-word objects, e.g., a chair is composed of a seat, a back-rest and some legs. Having multiple rules for an object helps us capture structural variations in objects, e.g., a chair can optionally also have arm-rests. Finally, having rules to capture composition at different levels helps us formulate the entire scene-processing pipeline as a single problem of finding most likely parse-tree---small segments combine to form parts of objects, parts to objects and objects to a scene. We attach a generative probability model to our grammar by having a feature-dependent probability function for every rule. We evaluated it by extracting labels for every segment and comparing the results with the state-of-the-art segment-labeling algorithm. Our algorithm was outperformed by the state-or-the-art method. But, Our model can be trained very efficiently (within seconds), and it scales only linearly in with the number of rules in the grammar. Also, we think that this is an important problem for the 3D vision community. So, we are releasing our dataset and related code.

READ FULL TEXT

page 2

page 7

06/03/2016

Scene Grammars, Factor Graphs, and Belief Propagation

We consider a class of probabilistic grammars for generating scenes with...
12/10/2019

Learning to generate new indoor scenes

Deep generative models have been used in recent years to learn coherent ...
08/02/2017

Predicting Human Activities Using Stochastic Grammar

This paper presents a novel method to predict future human activities fr...
05/24/2021

Reconstructing Small 3D Objects in front of a Textured Background

We present a technique for a complete 3D reconstruction of small objects...
08/11/2020

Adversarial Generative Grammars for Human Activity Prediction

In this paper we propose an adversarial generative grammar model for fut...
08/03/2018

Parsing Geometry Using Structure-Aware Shape Templates

Real-life man-made objects often exhibit strong and easily-identifiable ...
08/28/2019

Eliminating Left Recursion without the Epsilon

The standard algorithm to eliminate indirect left recursion takes a prev...