Related papers: Kinematic Kitbashing
3D models of manufactured objects are important for populating virtual worlds and for synthetic data generation for vision and robotics. To be most useful, such objects should be articulated: their parts should move when interacted with.…
A deep understanding of kinematic structures and movable components is essential for enabling robots to manipulate objects and model their own articulated forms. Such understanding is captured through articulated objects, which are…
Robots operating in domestic environments generally need to interact with articulated objects, such as doors, cabinets, dishwashers or fridges. In this work, we present a novel, probabilistic framework for modeling articulated objects as…
Building articulated objects is a key challenge in computer vision. Existing methods often fail to effectively integrate information across different object states, limiting the accuracy of part-mesh reconstruction and part dynamics…
We tackle the challenge of concurrent reconstruction at the part level with the RGB appearance and estimation of motion parameters for building digital twins of articulated objects using the 3D Gaussian Splatting (3D-GS) method. With two…
Learning articulated object pose is inherently difficult because the pose is high dimensional but has many structural constraints. Most existing work do not model such constraints and does not guarantee the geometric validity of their pose…
Reconstructing articulated objects into high-fidelity digital twins is crucial for applications such as robotic manipulation and interactive simulation. Recent self-supervised methods using differentiable rendering frameworks like 3D…
Articulated objects, such as laptops and drawers, exhibit significant challenges for 3D reconstruction and pose estimation due to their multi-part geometries and variable joint configurations, which introduce structural diversity across…
We present ArtMesh, a mesh-native method for reconstructing articulated objects explicitly as connected triangle meshes with per-part rigid motion from multi-view images in start and end states. Existing 3D Gaussian Splatting pipelines for…
The increasing demand for augmented reality and robotics is driving the need for articulated object reconstruction with high scalability. However, existing settings for reconstructing from discrete articulation states or casual monocular…
Texture reconstruction techniques generally suffer from the errors in keyframe poses. We present a non-iterative method for seamless texture reconstruction of a given 3D scene. Our method finds the best texture alignment in a single shot…
Kinesthetic garments provide physical feedback on body posture and motion through tailored distributions of reinforced material. Their ability to selectively stiffen a garment's response to specific motions makes them appealing for…
We present BimArt, a novel generative approach for synthesizing 3D bimanual hand interactions with articulated objects. Unlike prior works, we do not rely on a reference grasp, a coarse hand trajectory, or separate modes for grasping and…
Kinematic structures are very common in the real world. They range from simple articulated objects to complex mechanical systems. However, despite their relevance, most model-based 3D tracking methods only consider rigid objects. To…
Recently, through development of several 3d vision systems, widely used in various applications, medical and biometric fields. Microsoft kinect sensor have been most of used camera among 3d vision systems. Microsoft kinect sensor can obtain…
Articulated objects are central to interactive 3D applications, including embodied AI, robotics, and VR/AR, where functional part decomposition and kinematic motion are essential. Yet producing high-fidelity articulated assets remains…
We propose a training-free method, Articulate3D, to pose a 3D asset through language control. Despite advances in vision and language models, this task remains surprisingly challenging. To achieve this goal, we decompose the problem into…
3D articulated objects modeling has long been a challenging problem, since it requires to capture both accurate surface geometries and semantically meaningful and spatially precise structures, parts, and joints. Existing methods heavily…
We consider the problem of inverse kinematics (IK), where one wants to find the parameters of a given kinematic skeleton that best explain a set of observed 3D joint locations. The kinematic skeleton has a tree structure, where each node is…
Reconstructing articulated objects prevalent in daily environments is crucial for applications in augmented/virtual reality and robotics. However, existing methods face scalability limitations (requiring 3D supervision or costly…