Rescan: Inductive Instance Segmentation for Indoor RGBD Scans

@article{Halber2019RescanII,
  title={Rescan: Inductive Instance Segmentation for Indoor RGBD Scans},
  author={Maciej Halber and Yifei Shi and K. Xu and T. Funkhouser},
  journal={2019 IEEE/CVF International Conference on Computer Vision (ICCV)},
  year={2019},
  pages={2541-2550}
}
In depth-sensing applications ranging from home robotics to AR/VR, it will be common to acquire 3D scans of interior spaces repeatedly at sparse time intervals (e.g., as part of regular daily use). We propose an algorithm that analyzes these ``rescans'' to infer a temporal model of a scene with semantic instance information. Our algorithm operates inductively by using the temporal model resulting from past observations to infer an instance segmentation of a new scan, which is then used to… Expand
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