SceneCut: Joint Geometric and Object Segmentation for Indoor Scenes

Understand

This paper presents SceneCut, a novel approach to jointly discover previously unseen objects and non-object surfaces using a single RGB-D image.

• SceneCut's joint reasoning over scene semantics and geometry allows a robot to detect and segment object instances in complex scenes where modern deep learning-based methods either fail to separate object instances, or fail to detect objects that were not seen during training.
• SceneCut automatically decomposes a scene into meaningful regions which either represent objects or scene surfaces.
• The decomposition is qualified by an unified energy function over objectness and geometric fitting.