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Semantic reconstruction of indoor scenes refers to both scene understandingand object reconstruction. Existing works either address one part of thisproblem or focus on independent objects. In this paper, we bridge the gapbetween understanding and reconstruction, and propose an end-to-end solution tojointly reconstruct room layout, object bounding boxes and meshes from a singleimage. Instead of separately resolving scene understanding and objectreconstruction, our method builds upon a holistic scene context and proposes acoarse-to-fine hierarchy with three components: 1. room layout with camerapose; 2. 3D object bounding boxes; 3. object meshes. We argue thatunderstanding the context of each component can assist the task of parsing theothers, which enables joint understanding and reconstruction. The experimentson the SUN RGB-D and Pix3D datasets demonstrate that our method consistentlyoutperforms existing methods in indoor layout estimation, 3D object detectionand mesh reconstruction.

Total3DUnderstanding: Joint Layout, Object Pose and Mesh Reconstruction for Indoor Scenes from a Single Image