MonoScene: Monocular 3D Semantic Scene Completion

1 Dec 2021  ·  Anh-Quan Cao, Raoul de Charette ·

MonoScene proposes a 3D Semantic Scene Completion (SSC) framework, where the dense geometry and semantics of a scene are inferred from a single monocular RGB image. Different from the SSC literature, relying on 2.5 or 3D input, we solve the complex problem of 2D to 3D scene reconstruction while jointly inferring its semantics. Our framework relies on successive 2D and 3D UNets bridged by a novel 2D-3D features projection inspiring from optics and introduces a 3D context relation prior to enforce spatio-semantic consistency. Along with architectural contributions, we introduce novel global scene and local frustums losses. Experiments show we outperform the literature on all metrics and datasets while hallucinating plausible scenery even beyond the camera field of view. Our code and trained models are available at

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Task Dataset Model Metric Name Metric Value Global Rank Result Benchmark
3D Semantic Scene Completion from a single RGB image NYUv2 MonoScene mIoU 26.94 # 1
3D Semantic Scene Completion from a single RGB image SemanticKITTI MonoScene mIoU 11.08 # 1


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