Related papers: ArtMesh: Part-Aware Articulated Mesh Fields with M…
As autonomous robots interact and navigate around real-world environments such as homes, it is useful to reliably identify and manipulate articulated objects, such as doors and cabinets. Many prior works in object articulation…
City-scale 3D surface reconstruction from multiview images for downstream 3D simulation, poses highly challenging problems due to the scale and complexity of urban scenes. Existing city-scale 3D reconstruction methods based on NeRF,…
We present a new meshing algorithm called guided and augmented meshing, GAMesh, which uses a mesh prior to generate a surface for the output points of a point network. By projecting the output points onto this prior and simplifying the…
Triangle meshes play a crucial role in 3D applications for efficient manipulation and rendering. While auto-regressive methods generate structured meshes by predicting discrete vertex tokens, they are often constrained by limited face…
Recently, 3D Gaussian Splatting (3DGS) has emerged as an efficient approach for accurately representing scenes. However, despite its superior novel view synthesis capabilities, extracting the geometry of the scene directly from the Gaussian…
Reconstructing real-world objects and estimating their movable joint structures are pivotal technologies within the field of robotics. Previous research has predominantly focused on supervised approaches, relying on extensively annotated…
We introduce an active 3D reconstruction method which integrates visual perception, robot-object interaction, and 3D scanning to recover both the exterior and interior, i.e., unexposed, geometries of a target 3D object. Unlike other works…
Building digital twins of articulated objects from monocular video presents an essential challenge in computer vision, which requires simultaneous reconstruction of object geometry, part segmentation, and articulation parameters from…
Triangulated meshes have become ubiquitous discrete-surface representations. In this paper we address the problem of how to maintain the manifold properties of a surface while it undergoes strong deformations that may cause topological…
We propose a novel optimization framework for computing the medial axis transform that simultaneously preserves the medial structure and ensures high medial mesh quality. The medial structure, consisting of interconnected sheets, seams, and…
3D Human Body Reconstruction from a monocular image is an important problem in computer vision with applications in virtual and augmented reality platforms, animation industry, en-commerce domain, etc. While several of the existing works…
We propose DeMapGS, a structured Gaussian Splatting framework that jointly optimizes deformable surfaces and surface-attached 2D Gaussian splats. By anchoring splats to a deformable template mesh, our method overcomes topological…
Articulation modeling aims to infer movable parts and their motion parameters for a 3D object, enabling interactive animation, simulation, and shape editing. In this paper, we present Sketch2Arti, the first sketch-based articulation…
3D scene graphs have empowered robots with semantic understanding for navigation and planning. However, current functional scene graphs primarily focus on static element detection, lacking the actionable kinematic information required for…
3D scene understanding is a long-standing challenge in computer vision and a key component in enabling mixed reality, wearable computing, and embodied AI. Providing a solution to these applications requires a multifaceted approach that…
We introduce Kinematic Kitbashing, an optimization framework that synthesizes articulated 3D objects by assembling reusable parts conditioned on an abstract kinematic graph. Given the graph and a library of articulated parts, our method…
The recent development of 3D Gaussian Splatting (3DGS) has led to great interest in 4D dynamic spatial reconstruction. Existing approaches mainly rely on full-length multi-view videos, while there has been limited exploration of online…
3D Gaussian Splatting has recently achieved notable success in novel view synthesis for dynamic scenes and geometry reconstruction in static scenes. Building on these advancements, early methods have been developed for dynamic surface…
Gaussian Splatting (GS) is a novel, state-of-the-art technique for rendering points in a 3D scene by approximating their contribution to image pixels through Gaussian distributions, warranting fast training and real-time rendering. The main…
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…