Multi-task Planar Reconstruction with Feature Warping Guidance

• URL: http://arxiv.org/abs/2311.14981v2
• Date: Thu, 21 Dec 2023 16:45:12 GMT
• Title: Multi-task Planar Reconstruction with Feature Warping Guidance
• Authors: Luan Wei, Anna Hilsmann and Peter Eisert
• Abstract summary: Piece-wise planar 3D reconstruction simultaneously segments plane instances and recovers their 3D plane parameters from an image. We introduce SOLOPlanes, a real-time planar reconstruction model based on a modified instance segmentation architecture. Our model simultaneously predicts semantics using single images at inference time, while achieving real-time predictions at 43 FPS.
• Score: 3.95944314850151
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Piece-wise planar 3D reconstruction simultaneously segments plane instances and recovers their 3D plane parameters from an image, which is particularly useful for indoor or man-made environments. Efficient reconstruction of 3D planes coupled with semantic predictions offers advantages for a wide range of applications requiring scene understanding and concurrent spatial mapping. However, most existing planar reconstruction models either neglect semantic predictions or do not run efficiently enough for real-time applications. We introduce SOLOPlanes, a real-time planar reconstruction model based on a modified instance segmentation architecture which simultaneously predicts semantics for each plane instance, along with plane parameters and piece-wise plane instance masks. We achieve an improvement in instance mask segmentation by including multi-view guidance for plane predictions in the training process. This cross-task improvement, training for plane prediction but improving the mask segmentation, is due to the nature of feature sharing in multi-task learning. Our model simultaneously predicts semantics using single images at inference time, while achieving real-time predictions at 43 FPS.

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