Picasso produces multi-object scene reconstructions that are both geometrically accurate and physically plausible by using physics-constrained rejection sampling over an inferred contact graph, outperforming prior methods on a new real-world dataset and YCB-V.
Common objects in 3d: Large-scale learning and eval- uation of real-life 3d category reconstruction
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Picasso: Holistic Scene Reconstruction with Physics-Constrained Sampling
Picasso produces multi-object scene reconstructions that are both geometrically accurate and physically plausible by using physics-constrained rejection sampling over an inferred contact graph, outperforming prior methods on a new real-world dataset and YCB-V.