Semantic Scene Completion from a Single Depth Image

This paper focuses on semantic scene completion, a task for producing a complete 3D voxel representation of volumetric occupancy and semantic labels for a scene from a single-view depth map observation. Previous work has considered scene completion and semantic labeling of depth maps separately. However, we observe that these two problems are tightly intertwined. To leverage the coupled nature of these two tasks, we introduce the semantic scene completion network (SSCNet), an end-to-end 3D convolutional network that takes a single depth image as input and simultaneously outputs occupancy and semantic labels for all voxels in the camera view frustum. Our network uses a dilation-based 3D context module to…