Multi-Task Planar Reconstruction with Feature Warping Guidance

Luan Wei, Anna Hilsmann, Peter Eisert

Abstract: Piece-wise planar 3D reconstruction simultaneously segments plane instances and recovers their 3D plane parameters from an image, which is particularly useful for indoor or man-made environments. Efficient reconstruction of 3D planes coupled with semantic predictions offers advantages for a wide range of applications requiring scene understanding and concurrent spatial mapping. However, most existing planar reconstruction models either neglect semantic predictions or do not run efficiently enough for real-time applications. We introduce SOLOPlanes, a real-time planar reconstruction model based on a modified instance segmentation architecture which simultaneously predicts semantics for each plane instance, along with plane parameters and piece-wise plane instance masks. We achieve an improvement in instance mask segmentation by including multi-view guidance for plane predictions in the training process. This cross-task improvement, training for plane prediction but improving the mask