Learning to Recover 3D Scene Shape from a Single Image - Yin, Wei; Zhang, Jianming; Wang, Oliver; Niklaus, Simon; Mai, Long; Chen, Simon; Shen, Chunhua (2021 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), Computer Vision and Pattern Recognition (CVPR), 2021 IEEE/CVF Conference on, CVPR, 2021)