Chen Kong

Kejie Li, Martin Rünz, Meng Tang et al.

Object-oriented maps are important for scene understanding since they jointly capture geometry and semantics, allow individual instantiation and meaningful reasoning about objects. We introduce FroDO, a method for accurate 3D reconstruction of object instances from RGB video that infers object location, pose and shape in a coarse-to-fine manner. Key to FroDO is to embed object shapes in a novel learnt space that allows seamless switching between sparse point cloud and dense DeepSDF decoding. Given an input sequence of localized RGB frames, FroDO first aggregates 2D detections to instantiate a category-aware 3D bounding box per object. A shape code is regressed using an encoder network before optimizing shape and pose further under the learnt shape priors using sparse and dense shape representations. The optimization uses multi-view geometric, photometric and silhouette losses. We evaluate on real-world datasets, including Pix3D, Redwood-OS, and ScanNet, for single-view, multi-view, and multi-object reconstruction.

Dahua Lin, Chen Kong, Sanja Fidler et al.

This paper proposes a novel framework for generating lingual descriptions of indoor scenes. Whereas substantial efforts have been made to tackle this problem, previous approaches focusing primarily on generating a single sentence for each image, which is not sufficient for describing complex scenes. We attempt to go beyond this, by generating coherent descriptions with multiple sentences. Our approach is distinguished from conventional ones in several aspects: (1) a 3D visual parsing system that jointly infers objects, attributes, and relations; (2) a generative grammar learned automatically from training text; and (3) a text generation algorithm that takes into account the coherence among sentences. Experiments on the augmented NYU-v2 dataset show that our framework can generate natural descriptions with substantially higher ROGUE scores compared to those produced by the baseline.