MessyKitchens: Contact-rich object-level 3D scene reconstruction
Monocular 3D scene reconstruction has recently seen significant progress. Powered by the modern neural architectures and large-scale data, recent methods achieve high performance in depth estimation from a single image. Meanwhile, reconstructing and decomposing common scenes into individual 3D objects remains a hard challenge due to the large variety of objects, frequent occlusions and complex object relations. Notably, beyond shape and pose estimation of individual objects, applications in robotics and animation require physically-plausible scene reconstruction where objects obey physical principles of non-penetration and realistic contacts. In this work we advance object-level scene rec...
| Authors | Junaid Ahmed Ansari, Ran Ding, Fabio Pizzati et al. |
|---|---|
| Primary category | cs.CV |
| Published | 17 March 2026 |
| Last updated at source | 23 September 2026 |
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