Description: Since most current scene understanding approaches operate
either on the 2D image or using a surface-based representation, they do
not allow reasoning about the physical constraints within the 3D scene.
Inspired by the “Blocks World” work in the 1960’s, we present a qual-
itative physical representation of an outdoor scene where objects have
volume and mass, and relationships describe 3D structure and mechani-
cal configurations. Our representation allows us to apply powerful global
geometric constraints between 3D volumes as well as the laws of statics in
a qualitative manner
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blocksworld.pdf
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