PlaneRecTR: Unified Query Learning for 3D Plane Recovery from a Single View

3D plane recovery from a single image can usually be divided into several subtasks of plane detection, segmentation, parameter estimation and possibly depth estimation. Previous works tend to solve it by either extending the RCNN-based segmentation network or the dense pixel embedding-based clustering framework. However, none of them tried to integrate above related subtasks into a unified framework but treated them separately and sequentially, which we suspect is potentially a main source of performance limitation for existing approaches. Motivated by this finding and the success of query-based learning in enriching reasoning among semantic entities, in this paper, we propose PlaneRecTR, a Transformer-based architecture, which for the first time unifies all subtasks related to single-view plane recovery with a single compact model. Extensive quantitative and qualitative experiments demonstrate that our proposed unified learning achieves mutual benefits across subtasks, obtaining a new state-ofthe-art performance on public ScanNet and NYUv2-Plane datasets. Codes are available at https://github. com/SJingjia/PlaneRecTR.