# GOPI: Generation-Oriented 3D Pose Inference for Furniture Insertion from Single-View RGB-D Indoor Scenes

arXiv: https://arxiv.org/abs/2608.06836 · HTML: https://mlsanity.com/paper/2608.06836/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 39 of its 41 references that are in the map.
- First posted on arXiv 7 Aug 2026.

## Builds on (most cited first, 30 of 39)

- [High-Resolution Image Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2112.10752/) (2021)
- [Classifier-Free Diffusion Guidance](https://mlsanity.com/paper/2207.12598/) (2022)
- [Adding Conditional Control to Text-to-Image Diffusion Models](https://mlsanity.com/paper/2302.05543/) (2023)
- [SDXL: Improving Latent Diffusion Models for High-Resolution Image Synthesis](https://mlsanity.com/paper/2307.01952/) (2023)
- [DreamFusion: Text-to-3D using 2D Diffusion](https://mlsanity.com/paper/2209.14988/) (2022)
- [InstructPix2Pix: Learning to Follow Image Editing Instructions](https://mlsanity.com/paper/2211.09800/) (2022)
- [Zero-1-to-3: Zero-shot One Image to 3D Object](https://mlsanity.com/paper/2303.11328/) (2023)
- [RePaint: Inpainting using Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2201.09865/) (2022)
- [Magic3D: High-Resolution Text-to-3D Content Creation](https://mlsanity.com/paper/2211.10440/) (2022)
- [ProlificDreamer: High-Fidelity and Diverse Text-to-3D Generation with Variational Score Distillation](https://mlsanity.com/paper/2305.16213/) (2023)
- [Grounded SAM: Assembling Open-World Models for Diverse Visual Tasks](https://mlsanity.com/paper/2401.14159/) (2024)
- [MVDream: Multi-view Diffusion for 3D Generation](https://mlsanity.com/paper/2308.16512/) (2023)
- [GLIGEN: Open-Set Grounded Text-to-Image Generation](https://mlsanity.com/paper/2301.07093/) (2023)
- [PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenes](https://mlsanity.com/paper/1711.00199/) (2017)
- [Wonder3D: Single Image to 3D using Cross-Domain Diffusion](https://mlsanity.com/paper/2310.15008/) (2023)
- [DiffEdit: Diffusion-based semantic image editing with mask guidance](https://mlsanity.com/paper/2210.11427/) (2022)
- [SyncDreamer: Generating Multiview-consistent Images from a Single-view Image](https://mlsanity.com/paper/2309.03453/) (2023)
- [Deep Hough Voting for 3D Object Detection in Point Clouds](https://mlsanity.com/paper/1904.09664/) (2019)
- [Point Transformer V3: Simpler, Faster, Stronger](https://mlsanity.com/paper/2312.10035/) (2023)
- [3D-FRONT: 3D Furnished Rooms with layOuts and semaNTics](https://mlsanity.com/paper/2011.09127/) (2020)
- [DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusion](https://mlsanity.com/paper/1901.04780/) (2019)
- [3D-FUTURE: 3D Furniture shape with TextURE](https://mlsanity.com/paper/2009.09633/) (2020)
- [SmartBrush: Text and Shape Guided Object Inpainting with Diffusion Model](https://mlsanity.com/paper/2212.05034/) (2022)
- [Inpaint Anything: Segment Anything Meets Image Inpainting](https://mlsanity.com/paper/2304.06790/) (2023)
- [3D-SIS: 3D Semantic Instance Segmentation of RGB-D Scans](https://mlsanity.com/paper/1812.07003/) (2018)
- [ATISS: Autoregressive Transformers for Indoor Scene Synthesis](https://mlsanity.com/paper/2110.03675/) (2021)
- [DiffuScene: Denoising Diffusion Models for Generative Indoor Scene Synthesis](https://mlsanity.com/paper/2303.14207/) (2023)
- [SceneFormer: Indoor Scene Generation with Transformers](https://mlsanity.com/paper/2012.09793/) (2020)
- [Scan2CAD: Learning CAD Model Alignment in RGB-D Scans](https://mlsanity.com/paper/1811.11187/) (2018)
- [Improving Diffusion Models for Authentic Virtual Try-on in the Wild](https://mlsanity.com/paper/2403.05139/) (2024)

## Abstract (arXiv)

We study the problem of inserting new furniture into indoor scene images. Under masked single-view 2D image-plane conditioning, however, the physical scale of the inserted furniture relative to the scene cannot be uniquely determined, making physically grounded furniture placement underdetermined from image evidence alone. We therefore reformulate the task as a combination of 3D pose inference and geometry-guided image generation, where estimating a geometrically plausible 3D placement is essential for reliable synthesis. To this end, we propose a two-stage framework. For 3D placement, we introduce GOPI, a generation-oriented 3D pose inference framework that addresses the underdetermined nature of single-view furniture insertion through data-driven iterative inference, producing geometrically plausible object placements. For image generation, we develop a geometry-guided conditioning strategy that projects the inferred 3D pose into the image plane as a pixel-aligned constraint, enforcing consistency between the synthesized image and the underlying 3D geometry. Experimental results validate the proposed framework from both 3D pose estimation and image synthesis perspectives. For 3D placement, GOPI produces poses with stronger geometric feasibility and better consistency with reference layouts than direct regression and vanilla baselines. For image synthesis, our method preserves alignment with the projected 3D geometry across different furniture scales, showing stable projection-generation alignment across the tested furniture scales.