MooMIns -- Monocular 3D Reconstruction and Object Pose Estimation from Multiple Instances
Simultaneous 3D reconstruction and 6D object pose estimation from a single monocular image is an inherently ill-posed problem. In industrial settings, however, multiple instances of an object are often randomly arranged in bins, implicitly providing several views of the same object within a single image. We show that this implicit multi-view geometry can be exploited to simultaneously reconstruct the object in 3D and estimate the 6D pose of each visible object instance. We present MooMIns, a new Gaussian-splatting-based approach that inverts the original Gaussian splatting formulation: instead of rendering a single scene from multiple cameras, we render multiple object instances from a si...
| Authors | Robert Langendörfer, Markus Hillemann, Markus Ulrich |
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| Primary category | cs.CV |
| Published | 12 June 2026 |
| Last updated at source | 12 June 2026 |
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