Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet...
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![Page 1: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/1.jpg)
Indoor Segmentation and Support Inference from RGBD Images
Nathan Silberman, Derek Hoiem,Pushmeet Kohli, Rob Fergus
![Page 2: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/2.jpg)
Goal: Infer Support for Every Region
Lamp Supported by
Nightstand
Nightstand Supported by
Floor
![Page 3: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/3.jpg)
Goal: Infer Support for Every Region
![Page 4: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/4.jpg)
Why infer physical support?
Interacting with objects may have physical consequences!
![Page 5: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/5.jpg)
Why infer physical support: Recognition
Object on top of desk
Object hanging from file cabinet
![Page 6: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/6.jpg)
Why infer physical support: Recognition
![Page 7: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/7.jpg)
Working with RGB+Depth
• Captured with Microsoft Kinect• Restricted to Indoor Scenes
![Page 8: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/8.jpg)
NYU Depth Dataset Version 2.0
• Collected new NYU Depth Dataset• Much larger than NYU Depth 1.0– 464 Scenes– 1449 Densely Labeled frames– Over 400,000 Unlabeled frames– Over 800 Semantic Classes– Full videos available
• Larger variation in scenes • Dense Labels much higher quality
http://cs.nyu.edu/~silberman/datasets/nyu_depth_v2.html
![Page 9: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/9.jpg)
High Quality Semantic Labels
Bed
Pillow 1 Pillow 2
Headboard
Nightstand
Lamp
Window
Dresser
Picture 1Wall 1
Wall
Picture 3
Doll 1
Doll 2
Floor
Picture 2
Pillow 3
![Page 10: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/10.jpg)
High Quality Support Labels
Support from behindSupport from below Support from hidden region
![Page 11: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/11.jpg)
Segmentation Support Inference
RGBD Image
![Page 12: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/12.jpg)
Input
Scene Parsing
![Page 13: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/13.jpg)
• Major Surfaces• Surface Normals• Aligned Point Cloud
Input
Scene Parsing
![Page 14: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/14.jpg)
Input
• Major Surfaces• Surface Normals• Aligned Point Cloud
Segmentation
Scene Parsing
![Page 15: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/15.jpg)
Segmentation Scheme similar to: Recovering Occlusion Boundaries from a Single Image D. Hoiem, A.N. Stein, A.A. Efros, and M. Hebert, ICCV 2007.
Hierarchical Segmentation
![Page 16: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/16.jpg)
Segmentation Scheme similar to: Recovering Occlusion Boundaries from a Single Image D. Hoiem, A.N. Stein, A.A. Efros, and M. Hebert, ICCV 2007.
Hierarchical Segmentation
![Page 17: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/17.jpg)
Segmentation Scheme similar to: Recovering Occlusion Boundaries from a Single Image D. Hoiem, A.N. Stein, A.A. Efros, and M. Hebert, ICCV 2007.
Hierarchical Segmentation
![Page 18: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/18.jpg)
Segmentation Scheme similar to: Recovering Occlusion Boundaries from a Single Image D. Hoiem, A.N. Stein, A.A. Efros, and M. Hebert, ICCV 2007.
Hierarchical Segmentation
![Page 19: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/19.jpg)
Segmentation Scheme similar to: Recovering Occlusion Boundaries from a Single Image D. Hoiem, A.N. Stein, A.A. Efros, and M. Hebert, ICCV 2007.
Hierarchical Segmentation
![Page 20: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/20.jpg)
Input
• Major Surfaces• Surface Normals• Aligned Point Cloud
Segmentation
Scene Parsing
![Page 21: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/21.jpg)
Scene Parsing
Input
• Major Surfaces• Surface Normals• Aligned Point Cloud
Segmentation
Support Inference
![Page 22: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/22.jpg)
Segmentation Support Inference
RGBD Image
![Page 23: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/23.jpg)
Modeling Choice #1
• All objects supported by a single object except –• Floor requires no support.
4
23
1
4. Floor
3. Wall 1. Chair
2. Picture
(Inverted) Tree RepresentationImage Regions
![Page 24: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/24.jpg)
Modeling Choice #2
All objects are either supported by another region in the image OR a hidden region.
![Page 25: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/25.jpg)
Modeling Choice #2
All objects are either supported by another region in the image OR a hidden region.
Deoderant supported by
counter
![Page 26: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/26.jpg)
Modeling Choice #2
All objects are either supported by another region in the image OR a hidden region.
Cabinet supported by hidden region
![Page 27: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/27.jpg)
Modeling Choice #3
Every object is either supported from below or from behind.
![Page 28: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/28.jpg)
Modeling Choice #3
Every object is either supported from below or from behind.
Deoderant supported from
below
![Page 29: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/29.jpg)
Modeling Choice #3
Every object is either supported from below or from behind.
Mirror supported from behind
![Page 30: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/30.jpg)
Modeling Support: Structure Classes
‘Structure Classes’ encode high level support prior knowledge
(1) Ground (2) Furniture (3) Prop or (4) Structure
![Page 31: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/31.jpg)
Modeling Support
Goal: For each region in regions, infer:1. Supporting region 2. Support Type3. Structure class
![Page 32: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/32.jpg)
Modeling Support
Goal: For each region in regions, infer:1. Supporting region 2. Support Type 3. Structure class
The formal problem per image:
![Page 33: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/33.jpg)
Local Support Local Structure Class Prior
- supporting region - support type - structure class
Joint Energy Factorizes into three terms:
![Page 34: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/34.jpg)
comes from logistic regressor trained on pairwise features
Local Support Energy
1
2
- supporting region - support type - structure class
![Page 35: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/35.jpg)
Local Structure Class Energy
from logistic regressor trained on features from each individual region
- supporting region - support type - structure class
![Page 36: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/36.jpg)
A region’s structure class helps predict its support.
Structure
Furniture
Structure
Floor
OR
Prior (1/4): Transitions- supporting region - support type - structure class
![Page 37: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/37.jpg)
Supporting regions should be nearby
OR
Prior (2/4): Support Consistency- supporting region - support type - structure class
![Page 38: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/38.jpg)
A region requires no support if and only if its structure class is ‘floor’
Prior (3/4): Ground Consistency- supporting region - support type - structure class
![Page 39: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/39.jpg)
A region is unlikely to be the floor if another floor region is lower than it
OR
Prior (4/4): Global Ground Consistency
Floor
Floor
Floor
Prop
- supporting region - support type - structure class
![Page 40: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/40.jpg)
Integer Program Formulation
Relaxed to Linear Program
![Page 41: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/41.jpg)
Experiments
![Page 42: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/42.jpg)
Evaluating Support
Accuracy = # of Correctly Labeled Support Relationships
# of Total Labeled Support Relationships
Evaluation with features extracted from:
Regions from Ground Truth Labels Regions from Segmentation
![Page 43: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/43.jpg)
Baseline #1: Image Plane Rules
• Heuristic: look at neighboring regions for support
![Page 44: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/44.jpg)
Baselines #2: Structure Class Rules
• Heuristic: Support is deterministic given Structure Classes
Floor
Furniture
Prop
Structure
![Page 45: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/45.jpg)
Baselines #3: Support Classifier
• Use only the output of support classifier
![Page 46: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/46.jpg)
Evaluating Support(Regions from Ground Truth Labels)
Examples of Manually Labeled Regions
4050607080
Predict Supporting Region
Acc
ura
cy
![Page 47: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/47.jpg)
Evaluating Support(Regions from Ground Truth Labels)
Examples of Manually Labeled Regions
30456075
Predict Supporting RegionPrediction Supporting Region and Type
Acc
ura
cy
![Page 48: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/48.jpg)
ResultsGround Truth Regions
Floor
Furniture
Prop
Structure
![Page 49: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/49.jpg)
ResultsGround Truth Regions
Correct Prediction
![Page 50: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/50.jpg)
ResultsGround Truth Regions
Correct Prediction
Incorrect Prediction
![Page 51: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/51.jpg)
ResultsGround Truth Regions
Correct Prediction
Incorrect Prediction
Support from below
![Page 52: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/52.jpg)
ResultsGround Truth Regions
Correct Prediction
Incorrect PredictionSupport from behind
Support from below
![Page 53: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/53.jpg)
ResultsGround Truth Regions
Correct Prediction
Incorrect PredictionSupport from behind
Support from below
Support from hidden region
![Page 54: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/54.jpg)
ResultsGround Truth Regions
Correct Prediction
Incorrect PredictionSupport from behind
Support from below
Support from hidden region
![Page 55: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/55.jpg)
ResultsGround Truth Regions
Correct Prediction
Incorrect PredictionSupport from behind
Support from below
Support from hidden region
![Page 56: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/56.jpg)
Evaluating Support(Regions from Segmentation)
Examples of Regions from Segmentation
0
20
40
60
Predict Supporting RegionPrediction Supporting Region and Type
Acc
ura
cy
![Page 57: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/57.jpg)
ResultsAutomatically Segmented Regions
Correct Prediction
Incorrect PredictionSupport from behind
Support from below
Support from hidden region
![Page 58: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/58.jpg)
ResultsAutomatically Segmented Regions
Correct Prediction
Incorrect PredictionSupport from behind
Support from below
Support from hidden region
![Page 59: Indoor Segmentation and Support Inference from RGBD Images Nathan Silberman, Derek Hoiem, Pushmeet Kohli, Rob Fergus.](https://reader038.fdocuments.in/reader038/viewer/2022102923/551b17af550346cf5a8b5389/html5/thumbnails/59.jpg)
Conclusion
• Algorithm for inferring Physical Support• Novel Integer Program Formulation• 3D Cues for segmentation
Dataset:– http://cs.nyu.edu/~silberman/datasets/
nyu_depth_v2.html
Code:– http://cs.nyu.edu/~silberman/projects/
indoor_scene_seg_sup.html