Articulated Object Reconstruction from Rest-State Observation
Building interactive digital twins requires recovering both 3D geometry and the kinematic structures that govern how objects articulate. Yet existing methods for articulated object reconstruction require explicitly observable motion from multiple articulation states. We introduce a rest-state formulation that reconstructs articulated objects from a single closed configuration, an inherently ill-posed setting where geometry, semantics, and motion priors compensate for the absence of motion cues. Our framework adopts an explicit mesh as an intermediate representation for cross-model verification and fusion, reconciling noisy outputs from vision-language and segmentation models into spatiall...
| Authors | Daeun Lee, Jaeah Lee, Woosung Kim et al. |
|---|---|
| Primary category | cs.CV |
| Published | 30 July 2026 |
| Last updated at source | 30 July 2026 |
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