用结构化网格重建可动物体，实现部件级运动一致性。
ArtMesh: Part-Aware Articulated Mesh Fields with Motion-Consistent Dynamics
- 基于网格的可微渲染，直接在拓扑上建模部件运动
- 在100个可动物体上优于现有方法，多部件物体提升最明显
- 适合需要精确部件几何与运动一致性的3D重建任务
我们提出ArtMesh，一种从多视角图像中重建可动物体的网格原生方法，将物体显式表示为由三角面片组成的连通网格，并支持部件级刚性运动。现有基于3D高斯泼溅的可动重建方法继承了无结构点云的几何表示，缺乏表面拓扑，难以推断部件边界或保证运动一致性。ArtMesh则基于网格可微渲染框架，使部件感知的动力学能直接作用于结构化拓扑。为适配可动性，我们引入部件感知的受限德劳内重网格化，生成不跨越语义部件边界的连通子网格。动态网格场通过双向顶点运动一致性与像素级运动一致性优化关节参数。我们构建了Articulate-100，一个包含100个可动物体、覆盖16类PartNet-Mobility的基准数据集。在该数据集上，ArtMesh在联合参数估计与部件级几何重建上优于先前基于3DGS的管道，尤其在具有多个活动部件的物体上表现最佳。
原文摘要 · Abstract (English)
We present ArtMesh, a mesh-native method for reconstructing articulated objects explicitly as connected triangle meshes with per-part rigid motion from multi-view images in start and end states. Existing 3D Gaussian Splatting pipelines for articulated reconstruction inherit the unstructured point-based geometry of their splatting base, which provides no surface topology for reasoning about part boundaries or enforcing motion consistency along the object's connectivity. ArtMesh instead builds on a mesh-based differentiable rendering backbone, enabling part-aware dynamics to act directly on the structured topology. To make the topology compatible with articulation, we introduce part-aware restricted Delaunay remeshing, producing connected submeshes whose triangles do not cross semantic part boundaries. The dynamic mesh field then optimizes articulation using bidirectional Vertex-wise Motion Consistency on transported mesh vertices and Pixel-wise Motion Consistency on rendered RGB-D observations. We introduce Articulate-100, a new benchmark of 100 articulated objects spanning 16 PartNet-Mobility categories. On this benchmark, ArtMesh outperforms prior 3DGS-based pipelines in joint parameter estimation and part-level geometric reconstruction, with the largest gains on objects with many movable parts.
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