Reconstructing Interactive 3D Scenes by Panoptic Mapping and CAD Model Alignments

• URL: http://arxiv.org/abs/2103.16095v1
• Date: Tue, 30 Mar 2021 05:56:58 GMT
• Title: Reconstructing Interactive 3D Scenes by Panoptic Mapping and CAD Model Alignments
• Authors: Muzhi Han, Zeyu Zhang, Ziyuan Jiao, Xu Xie, Yixin Zhu, Song-Chun Zhu, Hangxin Liu
• Abstract summary: We rethink the problem of scene reconstruction from an embodied agent's perspective. We reconstruct an interactive scene using RGB-D data stream. This reconstructed scene replaces the object meshes in the dense panoptic map with part-based articulated CAD models.
• Score: 81.38641691636847
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: In this paper, we rethink the problem of scene reconstruction from an embodied agent's perspective: While the classic view focuses on the reconstruction accuracy, our new perspective emphasizes the underlying functions and constraints such that the reconstructed scenes provide \em{actionable} information for simulating \em{interactions} with agents. Here, we address this challenging problem by reconstructing an interactive scene using RGB-D data stream, which captures (i) the semantics and geometry of objects and layouts by a 3D volumetric panoptic mapping module, and (ii) object affordance and contextual relations by reasoning over physical common sense among objects, organized by a graph-based scene representation. Crucially, this reconstructed scene replaces the object meshes in the dense panoptic map with part-based articulated CAD models for finer-grained robot interactions. In the experiments, we demonstrate that (i) our panoptic mapping module outperforms previous state-of-the-art methods, (ii) a high-performant physical reasoning procedure that matches, aligns, and replaces objects' meshes with best-fitted CAD models, and (iii) reconstructed scenes are physically plausible and naturally afford actionable interactions; without any manual labeling, they are seamlessly imported to ROS-based simulators and virtual environments for complex robot task executions.

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