FroDO: From Detections to 3D Objects

PubDate: June 13, 2020

Teams: Facebook， University College London，e, The University of Adelaide

Writers: Martin Rünz;Kejie Li;Meng Tang;Lingni Ma;Chen Kong;Tanner Schmidt;Ian Reid;Lourdes Agapito;Julian Straub;Steven Lovegrove;Richard Newcombe

PDF: FroDO: From Detections to 3D Objects

Abstract

Object-oriented maps are important for scene understanding since they jointly capture geometry and semantics, allow individual instantiation and meaningful reasoning about objects. We introduce FroDO, a method for accurate 3D reconstruction of object instances from RGB video that infers object location, pose and shape in a coarse-to-fine manner. Key to FroDO is to embed object shapes in a novel learnt space that allows seamless switching between sparse point cloud and dense DeepSDF decoding. Given an input sequence of localized RGB frames, FroDO first aggregates 2D detections to instantiate a category-aware 3D bounding box per object. A shape code is regressed using an encoder network before optimizing shape and pose further under the learnt shape priors using sparse and dense shape representations. The optimization uses multi-view geometric, photometric and silhouette losses. We evaluate on real-world datasets, including Pix3D, Redwood-OS, and ScanNet, for single-view, multi-view, and multi-object reconstruction.