Panoptic 3D Scene Reconstruction From a Single RGB Image

Richly segmented 3D scene reconstructions are an integral basis for many high-level scene understanding tasks, such as for robotics, motion planning, or augmented reality. Existing works in 3D perception from a single RGB image tend to focus on geometric reconstruction only, or geometric reconstruction with semantic segmentation or instance segmentation.Inspired by 2D panoptic segmentation, we propose to unify the tasks of geometric reconstruction, 3D semantic segmentation, and 3D instance segmentation into the task of panoptic 3D scene reconstruction -- from a single RGB image, predicting the complete geometric reconstruction of the scene in the camera frustum of the image, along with semantic and instance segmentations.We propose a new approach for holistic 3D scene understanding from a single RGB image which learns to lift and propagate 2D features from an input image to a 3D volumetric scene representation.Our panoptic 3D reconstruction metric evaluates both geometric reconstruction quality as well as panoptic segmentation.Our experiments demonstrate that our approach for panoptic 3D scene reconstruction outperforms alternative approaches for this task.