Learning 3D Part Assembly from A Single ImageYichen Li*1, Kaichun Mo*1, Lin Shao1, Minhyuk Sung2, Leonidas Guibas1

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Problem Definition

Input Image Input Part Geometry Structure Decoding Assembled Shape

Image-Guided Shape Structure Decoding

segmentation

pose prediction

Geometry Conditioned Image Segmentation

Graph Decoding of Part Geometry Conditioned Shape Structure

Approach

Instance Segmentation

Graph-Conv Pose Induction

Part Specific features

Contextual Features

Part Node Feature

L2 Translation loss

L2 Rotation loss Chamfer distance Rotation loss

Shape Holistic chamfer distance loss

Loss Functions

Evaluation Metric

Shape Chamfer Distance

Part Accuracy

pointnet

GRUresnet Per part R/T

Baseline 1 - GRU

pointnet

Instance one-hot

MLPresnet Per part R/T

Baseline 2 - InsOneHot

pointnet

Instance one-hot

3D global feature

MLPresnet

2.5D global feature

Per part R/T

Baseline 3 - GlobalFeat

Quantitative Results

Qualitative Results