ViewStruct: View-Grounded Articulation and Connectivity Inference
Interacting with unfamiliar objects requires understanding how their parts connect and move. We introduce ViewStruct, a framework for jointly predicting connectivity and articulation in objects and scenes. Given an RGB image with aligned part segmentation and depth, optionally supplemented by images or video, ViewStruct predicts rigid-body groupings, attachments, and joint parameters. Its view-grounded representation links predictions to observed regions and expresses joint geometry in a gravity-aligned, view-relative frame, without requiring category-specific canonical orientations. A pretrained vision--language model is adapted to predict structure in seconds, without requiring observed...
| Authors | Wenjing Bian, Ranran Huang, Andreas Geiger |
|---|---|
| Primary category | cs.CV |
| Published | 12 October 2026 |
| Last updated at source | 12 October 2026 |
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