3D scene understanding with structured models Raquel Urtasun Toyota Technological Institute at Chicago Over the past few years we have witnessed an increased interest in estimating 3D from both monocular and RGB-D data. Recent progress on structured prediction has made available a powerful set of mathematical tools to express our geometric intuitions while being able to do efficient learning and inference. In this tutorial, I’ll review 3D scene understanding problems and show several structure prediction formulations to solve them.