Alexander Raistrick

Alexander Raistrick, Lahav Lipson, Zeyu Ma et al. · nvidia

We introduce Infinigen, a procedural generator of photorealistic 3D scenes of the natural world. Infinigen is entirely procedural: every asset, from shape to texture, is generated from scratch via randomized mathematical rules, using no external source and allowing infinite variation and composition. Infinigen offers broad coverage of objects and scenes in the natural world including plants, animals, terrains, and natural phenomena such as fire, cloud, rain, and snow. Infinigen can be used to generate unlimited, diverse training data for a wide range of computer vision tasks including object detection, semantic segmentation, optical flow, and 3D reconstruction. We expect Infinigen to be a useful resource for computer vision research and beyond. Please visit https://infinigen.org for videos, code and pre-generated data.

Alexander Raistrick, Karhan Kayan, Jack Nugent et al.

We introduce ProcFunc, a library for Blender-based procedural 3D generation in Python. ProcFunc provides a library of easy-to-use Python functions, which streamline creating, combining, analyzing, and executing procedural generation code. ProcFunc makes it easy to create large-scale diverse training data, by combinatorial compositions of semantic components. VLMs can use ProcFunc to edit procedural material and geometry code and can create new procedural code with significantly fewer coding errors. Finally, as an example use case, we use ProcFunc to develop a new procedural generator of indoor rooms, which includes a collection of new compositional procedural materials. We demonstrate the detail, runtime efficiency, and diversity of this room generator, as well as its use for 3D synthetic data generation. Please visit https://github.com/princeton-vl/procfunc for source code.

Zeyu Ma, Alexander Raistrick, Jia Deng

In this paper, we explore the design space of procedural rules for multi-view stereo (MVS). We demonstrate that we can generate effective training data using SimpleProc: a new, fully procedural generator driven by a very small set of rules using Non-Uniform Rational Basis Splines (NURBS), as well as basic displacement and texture patterns. At a modest scale of 8,000 images, our approach achieves superior results compared to manually curated images (at the same scale) sourced from games and real-world objects. When scaled to 352,000 images, our method yields performance comparable to--and in several benchmarks, exceeding--models trained on over 692,000 manually curated images. The source code and the data are available at https://github.com/princeton-vl/SimpleProc.

Jack Nugent, Siyang Wu, Zeyu Ma et al.

Recent years have witnessed substantial progress on monocular depth estimation, particularly as measured by the success of large models on standard benchmarks. However, performance on standard benchmarks does not offer a complete assessment, because most evaluate accuracy but not robustness. In this work, we introduce PDE (Procedural Depth Evaluation), a new benchmark which enables systematic robustness evaluation. PDE uses procedural generation to create 3D scenes that test robustness to various controlled perturbations, including object, camera, material and lighting changes. Our analysis yields interesting findings on what perturbations are challenging for state-of-the-art depth models, which we hope will inform further research. Code and data are available at https://github.com/princeton-vl/proc-depth-eval.

David Yan, Alexander Raistrick, Jia Deng

Synthetic datasets are a crucial ingredient for training stereo matching networks, but the question of what makes a stereo dataset effective remains underexplored. We investigate the design space of synthetic datasets by varying the parameters of a procedural dataset generator, and report the effects on zero-shot stereo matching performance using standard benchmarks. We validate our findings by collecting the best settings and creating a large-scale dataset. Training only on this dataset achieves better performance than training on a mixture of widely used datasets, and is competitive with training on the FoundationStereo dataset, with the additional benefit of open-source generation code and an accompanying parameter analysis to enable further research. We open-source our system at https://github.com/princeton-vl/InfinigenStereo to enable further research on procedural stereo datasets.

Alexander Raistrick, Lingjie Mei, Karhan Kayan et al.

We introduce Infinigen Indoors, a Blender-based procedural generator of photorealistic indoor scenes. It builds upon the existing Infinigen system, which focuses on natural scenes, but expands its coverage to indoor scenes by introducing a diverse library of procedural indoor assets, including furniture, architecture elements, appliances, and other day-to-day objects. It also introduces a constraint-based arrangement system, which consists of a domain-specific language for expressing diverse constraints on scene composition, and a solver that generates scene compositions that maximally satisfy the constraints. We provide an export tool that allows the generated 3D objects and scenes to be directly used for training embodied agents in real-time simulators such as Omniverse and Unreal. Infinigen Indoors is open-sourced under the BSD license. Please visit https://infinigen.org for code and videos.

Zeyu Ma, Alexander Raistrick, Lahav Lipson et al.

Procedural synthetic data generation has received increasing attention in computer vision. Procedural signed distance functions (SDFs) are a powerful tool for modeling large-scale detailed scenes, but existing mesh extraction methods have artifacts or performance profiles that limit their use for synthetic data. We propose OcMesher, a mesh extraction algorithm that efficiently handles high-detail unbounded scenes with perfect view-consistency, with easy export to downstream real-time engines. The main novelty of our solution is an algorithm to construct an octree based on a given SDF and multiple camera views. We performed extensive experiments, and show our solution produces better synthetic data for training and evaluation of computer vision models.

Alexander Raistrick, Nilesh Kulkarni, David F. Fouhey

What does bumping into things in a scene tell you about scene geometry? In this paper, we investigate the idea of learning from collisions. At the heart of our approach is the idea of collision replay, where we use examples of a collision to provide supervision for observations at a past frame. We use collision replay to train convolutional neural networks to predict a distribution over collision time from new images. This distribution conveys information about the navigational affordances (e.g., corridors vs open spaces) and, as we show, can be converted into the distance function for the scene geometry. We analyze this approach with an agent that has noisy actuation in a photorealistic simulator.