SIMstack: A Generative Shape and Instance Model for Unordered Object Stacks

Zoe Landgraf, Raluca Scona, Tristan Laidlow, Stephen James, Stefan Leutenegger, Andrew J. Davison

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

By estimating 3D shape and instances from a single view, we can capture information about an environment quickly, without the need for comprehensive scanning and multi-view fusion. Solving this task for composite scenes (such as object stacks) is challenging: occluded areas are not only ambiguous in shape but also in instance segmentation; multiple decompositions could be valid. We observe that physics constrains decomposition as well as shape in occluded regions and hypothesise that a latent space learned from scenes built under physics simulation can serve as a prior to better predict shape and instances in occluded regions. To this end we propose SIMstack, a depth-conditioned Variational Auto-Encoder (VAE), trained on a dataset of objects stacked under physics simulation. We formulate instance segmentation as a centre voting task which allows for class-agnostic detection and doesn't require setting the maximum number of objects in the scene. At test time, our model can generate 3D shape and instance segmentation from a single depth view, probabilistically sampling proposals for the occluded region from the learned latent space. Our method has practical applications in providing robots some of the ability humans have to make rapid intuitive inferences of partially observed scenes. We demonstrate an application for precise (non-disruptive) object grasping of unknown objects from a single depth view.

Original languageEnglish
Title of host publicationProceedings - 2021 IEEE/CVF International Conference on Computer Vision, ICCV 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages12992-13002
Number of pages11
ISBN (Electronic)9781665428125
DOIs
StatePublished - 2021
Externally publishedYes
Event18th IEEE/CVF International Conference on Computer Vision, ICCV 2021 - Virtual, Online, Canada
Duration: 11 Oct 202117 Oct 2021

Publication series

NameProceedings of the IEEE International Conference on Computer Vision
ISSN (Print)1550-5499

Conference

Conference18th IEEE/CVF International Conference on Computer Vision, ICCV 2021
Country/TerritoryCanada
CityVirtual, Online
Period11/10/2117/10/21

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