Searching and Matching Texture-free 3D Shapes in Images

The goal of this paper is to search and match the best rendered view of a texture-free 3D shape to an object of interest in a 2D query image. Matching rendered views of 3D shapes to RGB images is challenging because, 1) 3D shapes are not always a perfect match for the image queries, 2) there is great domain difference between rendered and RGB images, and 3) estimating the object scale versus distance is inherently ambiguous in images from uncalibrated cameras. In this work we propose a deeply learned matching function that attacks these challenges and can be used for a search engine that finds the appropriate 3D shape and matches it to objects in 2D query images. We evaluate the proposed matching function and search engine with a series of controlled experiments on the 24 most populated vehicle categories in PASCAL3D+. We test the capability of the learned matching function in transferring to unseen 3D shapes and study overall search engine sensitivity w.r.t available 3D shapes and object localization accuracy, showing promising results in retrieving 3D shapes given 2D image queries.