Make3D: Learning 3D Scene Structure from a Single Still Image

We consider the problem of estimating detailed 3D structure from a single still image of an unstructured environment. Our goal is to create 3D models that are both quantitatively accurate as well as visually pleasing. For each small homogeneous patch in the image, we use a Markov Random Field (MRF) to infer a set of "plane parameters" that capture both the 3D location and 3D orientation of the patch. The MRF, trained via supervised learning, models both image depth cues as well as the relationships between different parts of the image. Other than assuming that the environment is made up of a number of small planes, our model makes no explicit assumptions about the structure of the scene; this enables the…

• NS
  National Science Foundation
• PU
  Princeton University
• NC
  National Chiao Tung University
• MU
  Multidisciplinary University Research Initiative
• OO
  Office of Naval Research