论文标题
通过RGB-D扫描自动通过CAD模型自动注释室内图像
Automatically Annotating Indoor Images with CAD Models via RGB-D Scans
论文作者
论文摘要
我们提出了一种自动方法，可以通过依靠RGB-D扫描来注释对象的CAD模型的室内场景图像。通过3D专家的视觉评估，我们表明我们的方法检索注释至少与手动注释一样准确，因此可以用作地面真理，而无需手动注释3D数据的负担。我们使用一种分析方法来做到这一点，该方法将CAD模型的渲染与捕获的场景进行了比较。我们引入了一个“克隆过程”，该过程标识具有相同几何形状的对象，以使用相同的CAD模型注释这些对象。这使我们能够获得扫描仪数据集和最新Arkitscenes数据集的完整注释。
We present an automatic method for annotating images of indoor scenes with the CAD models of the objects by relying on RGB-D scans. Through a visual evaluation by 3D experts, we show that our method retrieves annotations that are at least as accurate as manual annotations, and can thus be used as ground truth without the burden of manually annotating 3D data. We do this using an analysis-by-synthesis approach, which compares renderings of the CAD models with the captured scene. We introduce a 'cloning procedure' that identifies objects that have the same geometry, to annotate these objects with the same CAD models. This allows us to obtain complete annotations for the ScanNet dataset and the recent ARKitScenes dataset.
