{"paper":{"title":"End-to-End CAD Model Retrieval and 9DoF Alignment in 3D Scans","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Angela Dai, Armen Avetisyan, Matthias Nie{\\ss}ner","submitted_at":"2019-06-10T18:01:42Z","abstract_excerpt":"We present a novel, end-to-end approach to align CAD models to an 3D scan of a scene, enabling transformation of a noisy, incomplete 3D scan to a compact, CAD reconstruction with clean, complete object geometry. Our main contribution lies in formulating a differentiable Procrustes alignment that is paired with a symmetry-aware dense object correspondence prediction. To simultaneously align CAD models to all the objects of a scanned scene, our approach detects object locations, then predicts symmetry-aware dense object correspondences between scan and CAD geometry in a unified object space, as "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1906.04201","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}