Get 3D scene using the input with context awareness with Symphonies
Get 3D scene using the input with context awareness with Symphonies
Symphonize 3D Semantic Scene Completion with Contextual Instance Queries
arXiv paper abstract https://arxiv.org/abs/2306.15670
arXiv PDF paper https://arxiv.org/pdf/2306.15670.pdf
GitHub https://github.com/hustvl/Symphonies
3D Semantic Scene Completion (SSC) … involves predicting per-voxel occupancy within a 3D scene from partial LiDAR or image inputs.
Existing methods primarily focus on the voxel-wise feature aggregation, while neglecting the instance-centric semantics and broader context.
… present … Symphonies (Scene-from-Insts) for SSC, which completes the scene volume from a sparse set of instance queries derived from the input with context awareness.
By incorporating the queries as the instance feature representations within the scene, Symphonies dynamically encodes the instance-centric semantics to interact with the image and volume features while avoiding the dense voxel-wise modeling.
… a more comprehensive understanding of the scenario by capturing context throughout the entire scene, contributing to alleviating the geometric ambiguity derived from occlusion and perspective errors.
Symphonies achieves a state-of-the-art result … outperforming existing methods …
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