Can Single-View Mesh Reconstruction Generalize to Robot Camera Rotation?
Single-view mesh reconstruction predicts object meshes and spatial layouts from a single observation, making it attractive for fast robot spatial reasoning and real-to-sim digital twins. However, robot-mounted cameras naturally rotate during manipulation and navigation, while learned single-view reconstruction models often rely on view-dependent priors and may generalize poorly to out-of-distribution camera rotations. Such rotations can introduce 3D inconsistencies, incorrect layouts, and violations of physical constraints, but this failure mode remains under-evaluated. We introduce an evaluation protocol with controlled axis-wise roll, pitch, and yaw sweeps to trace errors in monocular d...
| Authors | Yu Zhan, Guangcheng Chen, Hanjing Ye et al. |
|---|---|
| Primary category | cs.CV |
| Published | 22 June 2026 |
| Last updated at source | 22 June 2026 |
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