{"paper":{"title":"Floors are Flat: Leveraging Semantics for Real-Time Surface Normal Prediction","license":"http://creativecommons.org/licenses/by-sa/4.0/","headline":"","cross_cats":["cs.LG"],"primary_cat":"cs.CV","authors_text":"Alireza Fathi, Irfan Essa, Karthik Raveendran, Kevin Murphy, Steven Hickson","submitted_at":"2019-06-16T23:01:32Z","abstract_excerpt":"We propose 4 insights that help to significantly improve the performance of deep learning models that predict surface normals and semantic labels from a single RGB image. These insights are: (1) denoise the \"ground truth\" surface normals in the training set to ensure consistency with the semantic labels; (2) concurrently train on a mix of real and synthetic data, instead of pretraining on synthetic and finetuning on real; (3) jointly predict normals and semantics using a shared model, but only backpropagate errors on pixels that have valid training labels; (4) slim down the model and use grays"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1906.06792","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}