Awesome Scene Understanding

A curated list of awesome scene understanding papers, inspired by awesome-computer-vision.

• 📷 Multi-view images
• 🎲 Point cloud

Related Resources

• 3D Machine Learning

• Awesome Holistic 3D

• Awesome Planar Reconstruction

• Wireframe

• Line Segment

Workshops and Tutorials

• Holistic Structures for 3D Vision Workshop at ICCV 2021

• Holistic Scene Structures for 3D Vision Workshop at ECCV 2020

• Holistic 3D Reconstruction: Learning to Reconstruct Holistic 3D Structures from Sensorial Data at ICCV 2019

Survey

Papers	Venue	Links
Neural Fields in Robotics: A Survey	arXiv 2024	-
Advances in Data-Driven Analysis and Synthesis of 3D Indoor Scenes	CGF 2023	-
State-of-the-art in Automatic 3D Reconstruction of Structured Indoor Environments	CGF 2020	[project]
Indoor Scene Understanding in 2.5/3D for Autonomous Agents: A Survey	IEEE Access 2019	-
RGBD Datasets: Past, Present and Future	CVPR Workshop 2016	[project]

Dataset

Realistic Dataset

Papers	Venue	Links
ScanNet++: A High-Fidelity Dataset of 3D Indoor Scenes	ICCV 2023	[project]
ARKitScenes: A Diverse Real-World Dataset For 3D Indoor Scene Understanding Using Mobile RGB-D Data	NeurIPS 2021 Dataset Track	[code]
Zillow Indoor Dataset: Annotated Floor Plans With 360˚ Panoramas and 3D Room Layouts	CVPR 2021	[code]
HoliCity: A City-Scale Data Platform for Learning Holistic 3D Structures	CoRR 2020	[project]
OASIS: A Large-Scale Dataset for Single Image 3D in the Wild	CVPR 2020	[project]
3D Scene Graph: A Structure for Unified Semantics, 3D Space, and Camera	ICCV 2019	[project]
The Replica Dataset: A Digital Replica of Indoor Spaces	CoRR 2019	[code]
Matterport3D: Learning from RGB-D Data in Indoor Environments	3DV 2017	[project]
Joint 2D-3D-Semantic Data for Indoor Scene Understanding	CoRR 2017	[project]
ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes	CVPR 2017	[project]
SceneNN: a Scene Meshes Dataset with aNNotations	3DV 2016	[project]
SUN RGB-D: A RGB-D Scene Understanding Benchmark Suite	CVPR 2015	[project]
SUN3D: A Database of Big Spaces Reconstructed using SfM and Object Labels	ICCV 2013	[project]
Indoor Segmentation and Support Inference from RGBD Images	ECCV 2012	[project]

Synthetic Dataset

Papers	Venue	Links
Infinigen Indoors: Photorealistic Indoor Scenes using Procedural Generation	CVPR 2024	[project]
R3DS: Reality-linked 3D Scenes for Panoramic Scene Understanding	CoRR 2024	[project]
FurniScene: A Large-scale 3D Room Dataset with Intricate Furnishing Scenes	CoRR 2024	-
GeoSynth: A Photorealistic Synthetic Indoor Dataset for Scene Understanding	VR 2023	[code]
MINERVAS: Massive INterior EnviRonments VirtuAl Synthesis	CGF 2022	[project]
3D-FRONT: 3D Furnished Rooms with layOuts and semaNTics	ICCV 2021	[project]
Hypersim: A Photorealistic Synthetic Dataset for Holistic Indoor Scene Understanding	ICCV 2021	[project]
OpenRooms: An End-to-End Open Framework for Photorealistic Indoor Scene Datasets	CVPR 2021	[project]
Structured3D: A Large Photo-realistic Dataset for Structured 3D Modeling	ECCV 2020	[project]
InteriorNet: Mega-scale Multi-sensor Photo-realistic Indoor Scenes Dataset	BMVC 2018	[project]
SceneNet RGB-D: Can 5M Synthetic Images Beat Generic ImageNet Pre-training on Indoor Segmentation?	ICCV 2017	[project]
Semantic Scene Completion from a Single Depth Image	CVPR 2017	-
SceneNet: Understanding Real World Indoor Scenes With Synthetic Data	CVPR 2016	[project]
The SYNTHIA Dataset: A Large Collection of Synthetic Images for Semantic Segmentation of Urban Scenes	CVPR 2016	[project]

Holistic Scene Understanding

Perspective Image

Papers	Venue	Links
Single-view 3D Scene Reconstruction with High-fidelity Shape and Texture	3DV 2024	[project]
Towards High-Fidelity Single-view Holistic Reconstruction of Indoor Scenes	ECCV 2022	[code]
Holistic 3D Scene Understanding from a Single Image with Implicit Representation	CVPR 2021	[project] [code]
Total3DUnderstanding: Joint Layout, Object Pose and Mesh Reconstruction for Indoor Scenes from a Single Image	CVPR 2020	[code]
PerspectiveNet: 3D Object Detection from a Single RGB Image via Perspective Points	NeurIPS 2019	-
Hoilistc++ Scene Understanding: Single-view 3D Holistic Scene Parsing and Human Pose Estimation with Human-Object Interaction and Physical Commonsense	ICCV 2019	[project] [code]
Complete 3D Scene Parsing from an RGBD Image	IJCV 2018	-
Cooperative Holistic Scene Understanding: Unifying 3D Object, Layout, and Camera Pose Estimation	NeurIPS 2018	[project] [code]
Holistic 3D Scene Parsing and Reconstruction from a Single RGB Image	ECCV 2018	[project] [code]
Factoring Shape, Pose, and Layout from the 2D Image of a 3D Scene	CVPR 2018	[project] [code]
Im2CAD	CVPR 2018	[project]
DeepContext: Context-Encoding Neural Pathways for 3D Holistic Scene Understanding	ICCV 2017	[project]
Emptying, Refurnishing, and Relighting Indoor Spaces	SIGGRAPH Asia 2016	[project]
Scene Parsing by Integrating Function, Geometry and Appearance Models	CVPR 2013	-
Understanding Indoor Scenes using 3D Geometric Phrases	(CVPR 2013)	-
Recovering Free Space of Indoor Scenes from a Single Image	CVPR 2012	-
Efficient Exact Inference for 3D Indoor Scene Understanding	ECCV 2012	-
Efficient Structured Prediction for 3D Indoor Scene Understanding	CVPR 2012	-
Estimating Spatial Layout of Rooms using Volumetric Reasoning about Objects and Surfaces	NeurIPS 2010	-
Thinking Inside the Box: Using Appearance Models and Context Based on Room Geometry	ECCV 2010	-

Panoramic Image

Papers	Venue	Links
PanoContext-Former: Panoramic Total Scene Understanding with a Transformer	CVPR 2024	-
PanelNet: Understanding 360 Indoor Environment via Panel Representation	CVPR 2023	-
DeepPanoContext: Panoramic 3D Scene Understanding with Holistic Scene Context Graph and Relation-based Optimization	ICCV 2021	[code]
HoHoNet: 360 Indoor Holistic Understanding with Latent Horizontal Features	CVPR 2021	[Code]
Automatic 3D Indoor Scene Modeling from Single Panorama	CVPR 2018	-
Pano2CAD: Room Layout From A Single Panorama Image	WACV 2017	-
PanoContext: A Whole-room 3D Context Model for Panoramic Scene Understanding	ECCV 2014	[project]

Room Layout Estimation

Perspective Image

(AW: Atlanta-world, SS: single-floor and single-ceiling, PP: Piece-wise Planarity.)

Dataset	Year	Modality	#Frames	Prior	Source
CAD-Estate	2023	RGB Video	-	Generic	RealEstate-10K
Matterport3D-Layout	2020	RGB-D	7360	PP	Matterport
ScanNet-Layout	2020	RGB-D	293	PP	ScanNet
Structured3D	2020	RGB-D	82027	AW+SS	Structured3D
LSUN Room Layout	2016	RGB	5394	Cuboid	SUN
SUN RGB-D	2015	RGB-D	10335	AW+SS	NYUv2, Berkeley B3DO, and SUN3D
NYUv2 303	2013	RGB-D	303	Cuboid	NYUv2
Hedau	2009	RGB	366	Cuboid	-

Papers	Venue	Links
📷 Unposed Sparse Views Room Layout Reconstruction in the Age of Pretrain Model	ICLR 2025	-
Polygon Detection for Room Layout Estimation using Heterogeneous Graphs and Wireframes	ICCV Workshop 2023	[code]
ST-RoomNet: Learning Room Layout Estimation From Single Image Through Unsupervised Spatial Transformations	CVPR Workshop 2023	-
Learning to Reconstruct 3D Non-Cuboid Room Layout from a Single RGB Image	WACV 2022	[code]
RoomStructNet: Learning to Rank Non-Cuboidal Room Layouts From Single View	CoRR 2021	-
GeoLayout: Geometry Driven Room Layout Estimation Based on Depth Maps of Planes	ECCV 2020	[Matterport3D Layout Dataset]
Structural Deep Metric Learning for Room Layout Estimation	ECCV 2020	-
General 3D Room Layout from a Single View by Render-and-Compare	ECCV 2020	[project] [ScanNet-Layout Dataset] [code]
Smart Hypothesis Generation for Efficient and Robust Room Layout Estimation	WACV 2020	-
Flat2Layout: Flat Representation for Estimating Layout of General Room Types	CoRR 2019	-
Thinking Outside the Box: Generation of Unconstrained 3D Room Layouts	ACCV 2018	-
RoomNet: End-to-End Room Layout Estimation	ICCV 2017	-
Physics Inspired Optimization on Semantic Transfer Features: An Alternative Method for Room Layout Estimation	CVPR 2017	[project]
A Coarse-to-Fine Indoor Layout Estimation (CFILE) Method	ACCV 2016	-
DeLay: Robust Spatial Layout Estimation for Cluttered Indoor Scenes	CVPR 2016	-
Learning Informative Edge Maps for Indoor Scene Layout Prediction	ICCV 2015	-
Rent3D: Floor-Plan Priors for Monocular Layout Estimation	CVPR 2015	[project]
Box In the Box: Joint 3D Layout and Object Reasoning from Single Images	CVPR 2013	-
Estimating the 3D Layout of Indoor Scenes and its Clutter from Depth Sensors	ICCV 2013	[project]
Recovering the Spatial Layout of Cluttered Rooms	ICCV 2009	-

Panoramic Image

(MW: Manhattan world, AW: Atlanta world, SS: single-floor and single-ceiling.)

Dataset	Year	Modality	#Frames	Prior	Source
ZInD	2021	RGB	71474	AW+SS	ZinD
MatterportLayout	2020	RGB-D	2295	MW+SS	Matterport
Structured3D	2020	RGB-D	196515	AW+SS	Structured3D
LayoutMP3D	2020	RGB-D	2505	MW+SS	Matterport
2D-3D-S	2018	RGB-D	571	Cuboid	2D-3D-S
PanoContext	2014	RGB	500	Cuboid	SUN360

Papers	Venue	Links
uLayout: Unified Room Layout Estimation for Perspective and Panoramic Images	WACV 2025	-
No More Ambiguity in 360◦ Room Layout via Bi-Layout Estimation	CVPR 2024
Seg2Reg: Differentiable 2D Segmentation to 1D Regression Rendering for 360 Room Layout Reconstruction	CVPR 2024
iBARLE: imBalance-Aware Room Layout Estimation	CoRR 2023
📷 GPR-Net: Multi-view Layout Estimation via a Geometry-aware Panorama Registration Network	CVPR Workshop 2023	-
Shape-Net: Room Layout Estimation from Panoramic Images Robust to Occlusion using Knowledge Distillation with 3D Shapes as Additional Inputs	CVPR Workshop 2023
U2RLE: Uncertainty-Guided 2-Stage Room Layout Estimation	CVPR 2023
Disentangling Orthogonal Planes for Indoor Panoramic Room Layout Estimation with Cross-Scale Distortion Awareness	CVPR 2023	[Code]
📷 360-MLC: Multi-view Layout Consistency for Self-training and Hyper-parameter Tuning	NeurIPS 2022	[Project]
3D Room Layout Estimation from a Cubemap of Panorama Image via Deep Manhattan Hough Transform	ECCV 2022	[Code]
3D Room Layout Recovery Generalizing across Manhattan and Non-Manhattan Worlds	CVPR 2022	-
📷 PSMNet: Position-aware Stereo Merging Network for Room Layout Estimation	CVPR 2022	[code]
Self-supervised 360˚ Room Layout Estimation	CoRR 2022	[code]
LGT-Net: Indoor Panoramic Room Layout Estimation with Geometry-Aware Transformer Network	CVPR 2022	-
Deep3DLayout: 3D Reconstruction of an Indoor Layout from a Spherical Panoramic Image	SIGGRAPH Asia 2021	[project]
Transferable End-to-end Room Layout Estimation via Implicit Encoding	CoRR 2021	[project]
OmniLayout: Room Layout Reconstruction from Indoor Spherical Panoramas	CVPR Workshop 2021	[code]
LED2-Net: Monocular 360˚ Layout Estimation via Differentiable Depth Rendering	CVPR 2021	[project] [code]
SSLayout360: Semi-Supervised Indoor Layout Estimation from 360 Panorama	CVPR 2021	-
Single-Shot Cuboids: Geodesics-based End-to-end Manhattan Aligned Layout Estimation from Spherical Panoramas	Image and Vision Computing 2021	[project] [code]
Manhattan Room Layout Reconstruction from a Single 360 image: A Comparative Study of State-of-the-art Methods	IJCV 2021	[code] [MatterportLayout Dataset]
Training and Post Processing 3D Room Layout Beyond the Manhattan World Assumption	ECCV Workshop 2020	-
Joint 3D Layout and Depth Prediction from a Single Indoor Panorama Image	ECCV 2020	-
AtlantaNet: Inferring the 3D Indoor Layout from a Single 360 Image Beyond the Manhattan World Assumption	ECCV 2020	[project] [code]
Corners for Layout: End-to-End Layout Recovery from 360 Images	ICRA 2019	[project] [code]
DuLa-Net: A Dual-Projection Network for Estimating Room Layouts from a Single RGB Panorama	CVPR 2019	[project]
HorizonNet: Learning Room Layout with 1D Representation and Pano Stretch Data Augmentation	CVPR 2019	[code]
Layouts from Panoramic Images with Geometry and Deep Learning	IROS 2018	[code]
LayoutNet: Reconstructing the 3D Room Layout from a Single RGB Image	(CVPR 2018)	[code]
Efficient 3D Room Shape Recovery From a Single Panorama	CVPR 2016	[code]

Floorplan

Papers	Venue	Links
🎲 FRI-Net: Floorplan Reconstruction via Room-wise Implicit Representation	ECCV 2024	[code]
🎲 PolyRoom: Room-aware Transformer for Floorplan Reconstruction	ECCV 2024	[code]
🎲 PolyDiffuse: Polygonal Shape Reconstruction via Guided Set Diffusion Models	NeurIPS 2023	[project]
🎲 Connecting the Dots: Floorplan Reconstruction Using Two-Level Queries	CVPR 2023	[project] [code]
📷 Floorplan Restoration by Structure Hallucinating Transformer Cascades	CoRR 2022	-
📷 MVLayoutNet: 3D Layout Reconstruction with Multi-View Panoramas	CoRR 2021	-
📷 Extreme Structure From Motion for Indoor Panoramas Without Visual Overlaps	ICCV 2021	[code]
🎲 MonteFloor: Extending MCTS for Reconstructing Accurate Large-Scale Floor Plans	ICCV 2021	-
🎲 Scan2Plan: Efficient Floorplan Generation from 3D Scans of Indoor Scenes	CoRR 2020	-
🎲 Floor-SP: Inverse CAD for Floorplans by Sequential Room-wise Shortest Path	ICCV 2019	[project] [code]
📷 Floorplan-Jigsaw: Jointly Estimating Scene Layout and Aligning Partial Scans	ICCV 2019	[project]
🎲 DeepPerimeter: Indoor Boundary Estimation from Posed Monocular Sequences	CoRR 2019	-
📷 FloorNet: A unified framework for floorplan reconstruction from 3D scans	ECCV 2018	[project] [code]

Floorplan Vectorization

Papers	Venue	Links
VectorFloorSeg: Two-Stream Graph Attention Network for Vectorized Roughcast Floorplan Segmentation	CVPR 2023	[code]
Parsing Line Segments of Floor Plan Images Using Graph Neural Networks	CoRR 2023	-
Residential floor plan recognition and reconstruction	CVPR 2021	-
Versailles-FP dataset: Wall Detection in Ancient Floor Plans	CoRR 2021	-
Deep Floor Plan Recognition using a Multi-task Network with Room-boundary-Guided Attention	ICCV 2019	[project]
CubiCasa5K: A Dataset and an Improved Multi-Task Model for Floorplan Image Analysis	Scandinavian Conference on Image Analysis 2019	[code]
Raster-to-Vector: Revisiting Floorplan Transformation	ICCV 2017	[project] [code]

Visual Localization

Papers	Venue	Links
SPVLoc: Semantic Panoramic Viewport Matching for 6D Camera Localization in Unseen Environments	ECCV 2024	[project] [code]
LaLaLoc++: Global Floor Plan Comprehension for Layout Localisation in Unvisited Environments	ECCV 2022	[code]
LASER: LAtent SpacE Rendering for 2D Visual Localization	CVPR 2022	-
LaLaLoc: Latent Layout Localisation in Dynamic, Unvisited Environments	ICCV 2021	-

Primitive

Junction

Papers	Venue	Links
Manhattan Junction Catalogue for Spatial Reasoning of Indoor Scenes	CVPR 2013	-

Line Segment and Wireframe

Papers	Venue	Links
📷Volumetric Wireframe Parsing from Neural Attraction Fields	CoRR 2023	[code]
📷NEF: Neural Edge Fields for 3D Parametric Curve Reconstruction from Multi-view Images	CVPR 2023	[project]
DeepLSD: Line Segment Detection and Refinement with Deep Image Gradients	CoRR 2022	[Code]
Holistically-Attracted Wireframe Parsing: From Supervised to Self-Supervised Learning	CoRR 2022	-
🎲Learning to Construct 3D Building Wireframes from 3D Line Clouds	BMVC 2022	[Code]
HoW-3D: Holistic 3D Wireframe Perception from a Single Image	3DV 2022	[Code]
Semantic Room Wireframe Detection from a Single View	ICPR 2022	[code]
Towards Real-time and Light-weight Line Segment Detection	AAAI 2022	[code]
Hole-robust Wireframe Detection	WACV 2022	-
Fully Convolutional Line Parsing	Neurocomputing 2022	[code]
ELSD: Efficient Line Segment Detector and Descriptor	ICCV 2021	-
SOLD2: Self-supervised Occlusion-aware Line Description and Detection	CVPR 2021	[code]
Line Segment Detection Using Transformers without Edges	CVPR 2021	[code]
PlueckerNet: Learn to Register 3D Line Reconstructions	CVPR 2020	[code]
LGNN: A Context-aware Line Segment Detector	ACM MM 2020	-
TP-LSD: Tri-Points Based Line Segment Detector	ECCV 2020	[code]
Deep Hough-Transform Line Priors	ECCV 2020	[code]
Deep Hough Transform for Semantic Line Detection	ECCV 2020	[code]
Holistically-Attracted Wireframe Parsing	CVPR 2020	[code]
Learning to Reconstruct 3D Manhattan Wireframes from a Single Image	ICCV 2019	[code]
End-to-End Wireframe Parsing	ICCV 2019	[code]
PPGNet: Learning Point-Pair Graph for Line Segment Detection	CVPR 2019	[code]
Learning Attraction Field Representation for Robust Line Segment Detection	CVPR 2019	[code]
Novel Single View Constraints for Manhattan 3D Line Reconstruction	3DV 2018	-
Learning to Parse Wireframes in Images of Man-Made Environments	CVPR 2018	[code]
A Novel Linelet-Based Representation for Line Segment Detection	TPAMI 2018	-
MCMLSD: A Dynamic Programming Approach to Line Segment Detection	CVPR 2017	-
Lifting 3D Manhattan Lines from a Single Image	ICCV 2013	-
LSD: A Fast Line Segment Detector with a False Detection Control	TPAMI 2010	-

Outdoor Architecture

Papers	Venue	Links
HEAT: Holistic Edge Attention Transformer for Structured Reconstruction	CVPR 2022	[Project]
Structured Outdoor Architecture Reconsruction by Exploration and Classification	ICCV 2021	[Project]
Roof-GAN: Learning to Generate Roof Geometry and Relations for Residential Houses	CVPR 2021	[Code]
Vectorizing World Buildings: Planar Graph Reconstruction by Primitive Detection and Relationship Inference	ECCV 2020	[Project]
Conv-MPN: Convolutional Message Passing Neural Network for Structured Outdoor Architecture Reconstruction	CVPR 2020	[Project]

Plane

Papers	Venue	Links
MonoPlane: Exploiting Monocular Geometric Cues for Generalizable 3D Plane Reconstruction	IROS 2024	[code]
📷 UniPlane: Unified Plane Detection and Reconstruction from Posed Monocular Videos	CoRR 2024
📷 AirPlanes: Accurate Plane Estimation via 3D-Consistent Embeddings	CVPR 2024	[project]
PlaneRecTR: Unified Query learning for 3D Plane Recovery from a Single View	ICCV 2023	[Code]
📷 NOPE-SAC: Neural One-Plane RANSAC for Sparse-View Planar 3D Reconstruction	CoRR 2022	[Code]
📷 PlaneFormers: From Sparse View Planes to 3D Reconstruction	ECCV 2022	[project] [code]
📷 PlanarRecon: Real-time 3D Plane Detection and Reconstruction from Posed Monocular Videos	CVPR 2022	[Project]
PlaneRecNet: Multi-Task Learning with Cross-Task Consistency for Piece-Wise Plane Detection and Reconstruction from a Single RGB Image	BMVC 2021	[code]
PlaneTR: Structure-Guided Transformers for 3D Plane Recovery	ICCV 2021	[code]
📷 Planar Surface Reconstruction From Sparse Views	ICCV 2021	[project] [code]
Indoor Panorama Planar 3D Reconstruction via Divide and Conquer	CVPR 2021	[code]
Learning Pairwise Inter-Plane Relations for Piecewise Planar Reconstruction	ECCV 2020	[code]
Peek-a-Boo: Occlusion Reasoning in Indoor Scenes with Plane Representations	CVPR 2020	[project]
Single-Image Piece-wise Planar 3D Reconstruction via Associative Embedding	CVPR 2019	[code]
PlaneRCNN: 3D Plane Detection and Reconstruction from a Single Image	CVPR 2019	[project] [code]
Recovering 3D Planes from a Single Image via Convolutional Neural Networks	ECCV 2018	[code]
PlaneNet: Piece-wise Planar Reconstruction from a Single RGB Image	CVPR 2018	[project] [code]

Vanishing Point

Papers	Venue	Links
Vanishing Point Estimation in Uncalibrated Images with Prior Gravity Direction	ICCV 2023	[code]
Transformer Based Line Segment Classifier with Image Context for Real-Time Vanishing Point Detection in Manhattan World	CVPR 2022	-
Deep Vanishing Point Detection: Geometric Priors Make Dataset Variations Vanish	CVPR 2022	-
VaPiD: A Rapid Vanishing Point Detector via Learned Optimizers	ICCV 2021	-
NeurVPS: Neural Vanishing Point Scanning via Conic Convolution	NeurIPS 2021	[Code]