  We present an automatic method for annotating images of indoor scenes with
the CAD models of the objects by relying on RGB-D scans. Through a visual
evaluation by 3D experts, we show that our method retrieves annotations that
are at least as accurate as manual annotations, and can thus be used as ground
truth without the burden of manually annotating 3D data. We do this using an
analysis-by-synthesis approach, which compares renderings of the CAD models
with the captured scene. We introduce a 'cloning procedure' that identifies
objects that have the same geometry, to annotate these objects with the same
CAD models. This allows us to obtain complete annotations for the ScanNet
dataset and the recent ARKitScenes dataset.
