Matterport3D: Learning from RGB-D Data in Indoor Environments

Access to large, diverse RGB-D datasets is critical for training RGB-D scene understanding algorithms. However, existing datasets still cover only a limited number of views or a restricted scale of spaces. In this paper, we introduce Matterport3D, a large-scale RGB-D dataset containing 10,800 panoramic views from 194,400 RGB-D images of 90 building-scale scenes. Annotations are provided with surface reconstructions, camera poses, and 2D and 3D semantic segmentations. The precise global alignment and comprehensive, diverse panoramic set of views over entire buildings enable a variety of supervised and self-supervised computer vision tasks, including keypoint matching, view overlap prediction, normal prediction from color, semantic segmentation, and region classification

Plane-Based Optimization of Geometry and Texture for RGB-D Reconstruction of Indoor Scenes

We present a novel approach to reconstruct RGB-D indoor scene with plane primitives. Our approach takes as input a RGB-D sequence and a dense coarse mesh reconstructed by some 3D reconstruction method on the sequence, and generate a lightweight, low-polygonal mesh with clear face textures and sharp features without losing geometry details from the original scene. To achieve this, we firstly partition the input mesh with plane primitives, simplify it into a lightweight mesh next, then optimize plane parameters, camera poses and texture colors to maximize the photometric consistency across frames, and finally optimize mesh geometry to maximize consistency between geometry and planes. Compared to existing planar reconstruction methods which only cover large planar regions in the scene, our method builds the entire scene by adaptive planes without losing geometry details and preserves sharp features in the final mesh. We demonstrate the effectiveness of our approach by applying it onto several RGB-D scans and comparing it to other state-of-the-art reconstruction methods.Comment: in International Conference on 3D Vision 2018; Models and Code: see https://github.com/chaowang15/plane-opt-rgbd. arXiv admin note: text overlap with arXiv:1905.0885

PlaceRaider: Virtual Theft in Physical Spaces with Smartphones

As smartphones become more pervasive, they are increasingly targeted by malware. At the same time, each new generation of smartphone features increasingly powerful onboard sensor suites. A new strain of sensor malware has been developing that leverages these sensors to steal information from the physical environment (e.g., researchers have recently demonstrated how malware can listen for spoken credit card numbers through the microphone, or feel keystroke vibrations using the accelerometer). Yet the possibilities of what malware can see through a camera have been understudied. This paper introduces a novel visual malware called PlaceRaider, which allows remote attackers to engage in remote reconnaissance and what we call virtual theft. Through completely opportunistic use of the camera on the phone and other sensors, PlaceRaider constructs rich, three dimensional models of indoor environments. Remote burglars can thus download the physical space, study the environment carefully, and steal virtual objects from the environment (such as financial documents, information on computer monitors, and personally identifiable information). Through two human subject studies we demonstrate the effectiveness of using mobile devices as powerful surveillance and virtual theft platforms, and we suggest several possible defenses against visual malware