  Understanding a visual scene goes beyond recognizing individual objects in
isolation. Relationships between objects also constitute rich semantic
information about the scene. In this work, we explicitly model the objects and
their relationships using scene graphs, a visually-grounded graphical structure
of an image. We propose a novel end-to-end model that generates such structured
scene representation from an input image. The model solves the scene graph
inference problem using standard RNNs and learns to iteratively improves its
predictions via message passing. Our joint inference model can take advantage
of contextual cues to make better predictions on objects and their
relationships. The experiments show that our model significantly outperforms
previous methods for generating scene graphs using Visual Genome dataset and
inferring support relations with NYU Depth v2 dataset.
