RIO: 3D Object Instance Re-Localization in Changing Indoor Environments

Abstract

In this work, we introduce the task of 3D object instance re-localization (RIO): given one or multiple objects in an RGB-D scan, we want to estimate their corresponding 6DoF poses in another 3D scan of the same environment taken at a later point in time. We consider RIO a particularly important task in 3D vision since it enables a wide range of practical applications, including AI-assistants or robots that are asked to find a specific object in a 3D scene. To address this problem, we first introduce 3RScan, a novel dataset and benchmark, which features 1482 RGB-D scans of 478 environments across multiple time steps. Each scene includes several objects whose positions change over time, together with ground truth annotations of object instances and their respective 6DoF mappings among re-scans. Automatically finding 6DoF object poses leads to a particular challenging feature matching task due to varying partial observations and changes in the surrounding context. To this end, we introduce a new data-driven approach that efficiently finds matching features using a fully-convolutional 3D correspondence network operating on multiple spatial scales. Combined with a 6DoF pose optimization, our method outperforms state-of-the-art baselines on our newly-established benchmark, achieving an accuracy of 30.58%.