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Segment and complete 3D scene with unsupervised learning by fusing cross-domain features with S4R

Segment and complete 3D scene with unsupervised learning by fusing cross-domain features with S4R


S4R: Self-Supervised Semantic Scene Reconstruction from RGB-D Scans

arXiv paper abstract https://arxiv.org/abs/2302.03640



Most deep learning approaches to comprehensive semantic modeling of 3D indoor spaces require costly dense annotations in the 3D domain.


... explore a central 3D scene modeling task, namely, semantic scene reconstruction, using a fully self-supervised approach.


... design a trainable model that employs both incomplete 3D reconstructions and their corresponding source RGB-D images, fusing cross-domain features into volumetric embeddings to predict complete 3D geometry, color, and semantics.


... propose an end-to-end trainable solution jointly addressing geometry completion, colorization, and semantic mapping from a few RGB-D images, without 3D or 2D ground-truth.


... method is the first ... fully self-supervised method addressing completion and semantic segmentation of real-world 3D scans.


... performs comparably well with the 3D supervised baselines, surpasses baselines with 2D supervision on real datasets, and generalizes well to unseen scenes.



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