相关论文: ART: Articulated Reconstruction Transformer

Although existing video-based 3D human mesh recovery methods have made significant progress, simultaneously estimating human pose and shape from low-resolution image features limits their performance. These image features lack sufficient…

Articulated objects are fundamental for robotics, simulation of physics, and interactive virtual environments. However, reconstructing them from visual input remains challenging, as it requires jointly inferring both part geometry and…

Although commercial and open-source software exist to reconstruct a static object from a sequence recorded with an RGB-D sensor, there is a lack of tools that build rigged models of articulated objects that deform realistically and can be…

We introduce Structured 3D Features, a model based on a novel implicit 3D representation that pools pixel-aligned image features onto dense 3D points sampled from a parametric, statistical human mesh surface. The 3D points have associated…

We introduce Gaussian Articulated Template Model GART, an explicit, efficient, and expressive representation for non-rigid articulated subject capturing and rendering from monocular videos. GART utilizes a mixture of moving 3D Gaussians to…

Recovering high-quality 3D scenes from a single RGB image is a challenging task in computer graphics. Current methods often struggle with domain-specific limitations or low-quality object generation. To address these, we propose CAST…

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…

Articulated object recognition -- the task of identifying both the geometry and kinematic joints of objects with movable parts -- is essential for enabling robots to interact with everyday objects such as doors and laptops. However,…

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…

Active 3D reconstruction enables an agent to autonomously select viewpoints to efficiently obtain accurate and complete scene geometry, rather than passively reconstructing scenes from pre-collected images. However, existing active…

Articulated objects are ubiquitous in daily life. Our goal is to achieve a high-quality reconstruction, segmentation of independent moving parts, and analysis of articulation. Recent methods analyse two different articulation states and…

Articulated objects like cabinets and doors are widespread in daily life. However, directly manipulating 3D articulated objects is challenging because they have diverse geometrical shapes, semantic categories, and kinetic constraints. Prior…

We present a technique for a complete 3D reconstruction of small objects moving in front of a textured background. It is a particular variation of multibody structure from motion, which specializes to two objects only. The scene is captured…

Understanding the 3D motion of articulated objects is essential in robotic scene understanding, mobile manipulation, and motion planning. Prior methods for articulation estimation have primarily focused on controlled settings, assuming…

Representing articulated objects remains a difficult problem within the field of robotics. Objects such as pliers, clamps, or cabinets require representations that capture not only geometry and color information, but also part seperation,…

Articulated objects and their representations pose a difficult problem for robots. These objects require not only representations of geometry and texture, but also of the various connections and joint parameters that make up each…

We introduce SAOR, a novel approach for estimating the 3D shape, texture, and viewpoint of an articulated object from a single image captured in the wild. Unlike prior approaches that rely on pre-defined category-specific 3D templates or…

Interactive 3D simulated objects are crucial in AR/VR, animations, and robotics, driving immersive experiences and advanced automation. However, creating these articulated objects requires extensive human effort and expertise, limiting…

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…

Creating interactive digital environments for gaming, robotics, and simulation relies on articulated 3D objects whose functionality emerges from their part geometry and kinematic structure. However, existing approaches remain fundamentally…