3D Instance Segmentation via Multi-Task Metric Learning

Jean Lahoud, Bernard Ghanem, Martin R. Oswald, Marc Pollefeys

Research output: Chapter in Book/Report/Conference proceedingConference contribution

119 Scopus citations


We propose a novel method for instance label segmentation of dense 3D voxel grids. We target volumetric scene representations, which have been acquired with depth sensors or multi-view stereo methods and which have been processed with semantic 3D reconstruction or scene completion methods. The main task is to learn shape information about individual object instances in order to accurately separate them, including connected and incompletely scanned objects. We solve the 3D instance-labeling problem with a multi-task learning strategy. The first goal is to learn an abstract feature embedding, which groups voxels with the same instance label close to each other while separating clusters with different instance labels from each other. The second goal is to learn instance information by densely estimating directional information of the instance's center of mass for each voxel. This is particularly useful to find instance boundaries in the clustering post-processing step, as well as, for scoring the segmentation quality for the first goal. Both synthetic and real-world experiments demonstrate the viability and merits of our approach. In fact, it achieves state-of-the-art performance on the ScanNet 3D instance segmentation benchmark.
Original languageEnglish (US)
Title of host publication2019 IEEE/CVF International Conference on Computer Vision (ICCV)
Number of pages11
ISBN (Print)9781728148038
StatePublished - 2019

Bibliographical note

KAUST Repository Item: Exported on 2020-10-01
Acknowledgements: This research was supported by competitive funding from King Abdullah University of Science and Technology (KAUST). Further support was received by the Intelligence Advanced Research Projects Activity (IARPA) via Department of Interior/ Interior Business Center (DOI/IBC) contract number D17PC00280. The U.S. Government is authorized to reproduce and distribute reprints for Governmental purposes notwithstanding any copyright annotation thereon. Disclaimer: The views and conclusions contained herein are those of the authors and should not be interpreted as necessarily representing the official policies or endorsements, either expressed or implied, of IARPA, DOI/IBC,
or the U.S. Government.


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