Reviews: Learning to Exploit Stability for 3D Scene Parsing

The goal of this paper is to output a set of 3D bounding boxes and set of dominant planes for a scene depicted in a single image. The key insight is to incorporate stability constraints in the 3D layout, i.e., the reconstructed 3D boxes should not move too far under simulation (in Bullet) with physical forces (gravity, friction). Parameters for 3D boxes are regressed using a modified R-CNN training loss and dominant planes for the walls and floors are regressed via a RNN. A stability criterion is used to update the output 3D scene (via REINFORCE) where the predicted 3D layout is run through Bullet simulator and 3D displacements are checked. Results are shown on synthetic (SUNCG, SceneNet RGB-D) and real (SUN RGB-D) datasets, out-performing the factored 3D approach of [Tulsiani18].