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. 2021 Oct 28;1:740342. doi: 10.3389/fbinf.2021.740342

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Copyright © 2021 Blundell, Sieben, Manley, Rosten, Ch’ng and Cox.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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An overview of our network. Batches of images of size 128 × 128 pixels are fed to the convolution layers, which reduce the batch down to 6 parameters. These are passed to the rendering pipeline along with the 3D reconstruction matrix to produce a batch of output images. The rendering parameters Rx, Ry and Rz represent the rotation in “Angle-Axis” form. Tx and Ty represent translation in the X, Y plane. S represents the predicted output-sigma. The 3D reconstruction matrix contains a list of vertices representing the predicted point-cloud.