Learning Object-Centric Representations of Multi-Object Scenes from Multiple Views

Abstract

Learning object-centric representations of multi-object scenes is a promising approach towards machine intelligence, facilitating high-level reasoning and control from visual sensory data. However, current approaches for unsupervised objectcentric scene representation are incapable of aggregating information from multiple observations of a scene. As a result, these "single-view" methods form their representations of a 3D scene based only on a single 2D observation (view). Naturally, this leads to several inaccuracies, with these methods falling victim to single-view spatial ambiguities. To address this, we propose The Multi-View and Multi-Object Network (MulMON)-a method for learning accurate, object-centric representations of multi-object scenes by leveraging multiple views. In order to sidestep the main technical difficulty of the multi-object-multi-view scenario-maintaining object correspondences across views-MulMON iteratively updates the latent object representations for a scene over multiple views. To ensure that these iterative updates do indeed aggregate spatial information to form a complete 3D scene understanding, MulMON is asked to predict the appearance of the scene from novel viewpoints during training. Through experiments we show that MulMON better-resolves spatial ambiguities than single-view methods-learning more accurate and disentangled object representations-and also achieves new functionality in predicting object segmentations for novel viewpoints. Our implementation and pretrained models are given on GitHub 1 .