# Single-Shot Cuboids: Geodesics-based End-to-end Manhattan Aligned Layout Estimation from Spherical Panoramas

arXiv: https://arxiv.org/abs/2102.03939 · HTML: https://mlsanity.com/paper/2102.03939/

## Key facts

- Cited by 7 papers in the map (data through 14 Oct 2026).
- Builds on 42 of its 73 references that are in the map.
- First posted on arXiv 7 Feb 2021.

## Builds on (most cited first, 30 of 42)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [Delving Deep into Rectifiers: Surpassing Human-Level Performance on ImageNet Classification](https://mlsanity.com/paper/1502.01852/) (2015)
- [Identity Mappings in Deep Residual Networks](https://mlsanity.com/paper/1603.05027/) (2016)
- [Matterport3D: Learning from RGB-D Data in Indoor Environments](https://mlsanity.com/paper/1709.06158/) (2017)
- [Depth Map Prediction from a Single Image using a Multi-Scale Deep Network](https://mlsanity.com/paper/1406.2283/) (2014)
- [Stacked Hourglass Networks for Human Pose Estimation](https://mlsanity.com/paper/1603.06937/) (2016)
- [Albumentations: fast and flexible image augmentations](https://mlsanity.com/paper/1809.06839/) (2018)
- [Gibson Env: Real-World Perception for Embodied Agents](https://mlsanity.com/paper/1808.10654/) (2018)
- [Spherical CNNs](https://mlsanity.com/paper/1801.10130/) (2018)
- [Joint 2D-3D-Semantic Data for Indoor Scene Understanding](https://mlsanity.com/paper/1702.01105/) (2017)
- [Making Convolutional Networks Shift-Invariant Again](https://mlsanity.com/paper/1904.11486/) (2019)
- [An Intriguing Failing of Convolutional Neural Networks and the CoordConv Solution](https://mlsanity.com/paper/1807.03247/) (2018)
- [Structured3D: A Large Photo-realistic Dataset for Structured 3D Modeling](https://mlsanity.com/paper/1908.00222/) (2019)
- [Integral Human Pose Regression](https://mlsanity.com/paper/1711.08229/) (2017)
- [Learning SO(3) Equivariant Representations with Spherical CNNs](https://mlsanity.com/paper/1711.06721/) (2017)
- [Distribution-Aware Coordinate Representation for Human Pose Estimation](https://mlsanity.com/paper/1910.06278/) (2019)
- [Wing Loss for Robust Facial Landmark Localisation with Convolutional Neural Networks](https://mlsanity.com/paper/1711.06753/) (2017)
- [HorizonNet: Learning Room Layout with 1D Representation and Pano Stretch Data Augmentation](https://mlsanity.com/paper/1901.03861/) (2019)
- [HoHoNet: 360 Indoor Holistic Understanding with Latent Horizontal Features](https://mlsanity.com/paper/2011.11498/) (2020)
- [OmniDepth: Dense Depth Estimation for Indoors Spherical Panoramas](https://mlsanity.com/paper/1807.09620/) (2018)
- [LayoutNet: Reconstructing the 3D Room Layout from a Single RGB Image](https://mlsanity.com/paper/1803.08999/) (2018)
- [Numerical Coordinate Regression with Convolutional Neural Networks](https://mlsanity.com/paper/1801.07372/) (2018)
- [DuLa-Net: A Dual-Projection Network for Estimating Room Layouts from a Single RGB Panorama](https://mlsanity.com/paper/1811.11977/) (2018)
- [Cube Padding for Weakly-Supervised Saliency Prediction in 360deg Videos](https://mlsanity.com/paper/1806.01320/) (2018)
- [Neural Illumination: Lighting Prediction for Indoor Environments](https://mlsanity.com/paper/1906.07370/) (2019)
- [Kernel Transformer Networks for Compact Spherical Convolution](https://mlsanity.com/paper/1812.03115/) (2018)
- [Corners for Layout: End-to-End Layout Recovery from 360 Images](https://mlsanity.com/paper/1903.08094/) (2019)
- [Human Pose Regression by Combining Indirect Part Detection and Contextual Information](https://mlsanity.com/paper/1710.02322/) (2017)
- [Spherical View Synthesis for Self-Supervised 360 Depth Estimation](https://mlsanity.com/paper/1909.08112/) (2019)

## Built on by (most cited first, 7 of 7)

- [Pano3D: A Holistic Benchmark and a Solid Baseline for 360o Depth Estimation](https://mlsanity.com/paper/2109.02749/) (2021)
- [A Survey of Representation Learning, Optimization Strategies, and Applications for Omnidirectional Vision](https://mlsanity.com/paper/2502.10444/) (2025)
- [PanoDR: Spherical Panorama Diminished Reality for Indoor Scenes](https://mlsanity.com/paper/2106.00446/) (2021)
- [General Place Recognition Survey: Towards the Real-world Autonomy Age](https://mlsanity.com/paper/2209.04497/) (2022)
- [3D Scene Geometry Estimation from 360^circ Imagery: A Survey](https://mlsanity.com/paper/2401.09252/) (2024)
- [Monocular Spherical Depth Estimation with Explicitly Connected Weak Layout Cues](https://mlsanity.com/paper/2206.11358/) (2022)
- [Windowed-FourierMixer: Enhancing Clutter-Free Room Modeling with Fourier Transform](https://mlsanity.com/paper/2402.18287/) (2024)

## Abstract (arXiv)

It has been shown that global scene understanding tasks like layout estimation can benefit from wider field of views, and specifically spherical panoramas. While much progress has been made recently, all previous approaches rely on intermediate representations and postprocessing to produce Manhattan-aligned estimates. In this work we show how to estimate full room layouts in a single-shot, eliminating the need for postprocessing. Our work is the first to directly infer Manhattan-aligned outputs. To achieve this, our data-driven model exploits direct coordinate regression and is supervised end-to-end. As a result, we can explicitly add quasi-Manhattan constraints, which set the necessary conditions for a homography-based Manhattan alignment module. Finally, we introduce the geodesic heatmaps and loss and a boundary-aware center of mass calculation that facilitate higher quality keypoint estimation in the spherical domain. Our models and code are publicly available at https://vcl3d.github.io/SingleShotCuboids/.