We use simulated annealing on the arrangement of objects to create physically realistic scenes. Some sample scenes are shown with a video of how optimisation evolves below. The walls (shown in green) have been purposely shortened to aid visibility and highlighting the content of the scene. This is an attempt to leverage various object repositories e.g. Warehouse, ModelNet, Stanford scenes etc. to create potentially unlimited scenes with different co-occurrence and other statistics learnt from real NYUv2 data. Objects can be grouped together hierarchically to create a lot more cluttered scenes.
Stanford Scenes [Layouts removed]