arXiv:2603.21611cs.CV2026-03

用结构感知生成框架提升3D碎片重组精度,尤其适合碎片多的复杂场景。

SARe: Structure-Aware Generative 3D Fragment Reassembly

  • 通过局部几何与结构监督联合引导点流重建,直接优化坐标迁移表示。
  • 在含10+碎片的复杂场景下,零件匹配准确率领先现有方法,且退化更平缓。
  • 适用于真实物理破碎物体的3D重建,无需额外预训练或对齐阶段。

3D碎片重组旨在从无序点云或网格中估计每个碎片的刚性位姿,以恢复完整物体。随着碎片数量增加,任务愈发困难——不规则碎片缺乏语义线索,可实现的接触关系与全局构型呈指数增长。本文提出结构感知重组(SARe),一种将查询对齐的局部几何信息与任务原生结构监督融入点流组装的生成框架。SARe-Gen在运输表面查询时,结合局部隐变量,并联合监督中间流标记,分别对应查询级断裂区域和碎片级接触目标。由于这些监督头与流匹配共同优化,结构信息直接塑造驱动坐标迁移的表征,无需额外重组专用预训练或独立教师对齐阶段。推理时,SARe-Refine通过几何验证预测关系,并利用可靠的局部子装配指导第二次采样,强化一致区域,重采样不确定碎片。我们在三种设置下评估:合成断裂、扫描真实物体的模拟断裂,以及真实物理破碎物体的扫描数据。结果表明,SARe达到当前最优性能,在高碎片数场景中零件准确率更高,退化更平缓。

原文摘要 · Abstract (English)

3D fragment reassembly estimates the rigid pose of each fragment to recover a complete object from unordered point clouds or meshes. The task becomes increasingly challenging as the fragment count grows, since irregular fragments provide weak semantic cues and admit rapidly increasing numbers of plausible contact relations and global configurations. We propose Structure-Aware Reassembly (SARe), a generative framework that integrates query-aligned local geometry and task-native structural supervision into point-flow assembly. SARe-Gen conditions each transported surface query on a local latent and jointly supervises intermediate flow tokens with query-level fracture-region and fragment-level contact targets. Because these heads are optimized together with flow matching, structural supervision directly shapes the representations that drive coordinate transport, without requiring additional reassembly-specific pretraining or a separate teacher-alignment stage. At inference time, SARe-Refine geometrically verifies predicted relations and uses reliable local subassemblies to guide a second sampling pass, reinforcing consistent regions while resampling uncertain fragments. We evaluate SARe across three settings, including synthetic fractures, simulated fractures from scanned real objects, and scans of physically fractured objects. The results demonstrate state-of-the-art performance, with higher part accuracy and more graceful degradation in challenging many-fragment settings.

3D重建碎片重组生成模型点云处理

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