GARDEN: Gravity-Aligned Reconstruction of Disentangled ENvironments from RGB images
Converting multi-view RGB observations into simulation-ready 3D environments remains challenging because current reconstruction pipelines produce monolithic scene representations without explicit physical structure. They are typically defined up to an arbitrary global rotation and entangle rigid foreground objects with background geometry, which hinders stable physical interaction. Existing solutions often recover interactivity by replacing reconstructed objects with retrieved CAD assets, but this introduces a slow retrieval-and-replacement stage and weakens scene-specific geometric fidelity. We propose GARDEN, an RGB-only framework that reformulates reconstruction as physically-grounded ...
| Authors | Jiahao Sun, Dingkun Wei, Zehong Shen et al. |
|---|---|
| Primary category | cs.CV |
| Published | 2 June 2026 |
| Last updated at source | 7 July 2026 |
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