Author

J. Ansari

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#artificial intelligence Mar 2026

MessyKitchens: Contact-rich object-level 3D scene reconstruction

This work introduces MessyKitchens, a new dataset with real-world scenes featuring cluttered environments and providing high-fidelity object-level ground truth in terms of 3D object shapes, poses and accurate object contacts, and builds on the recent SAM 3D approach for single-object reconstruction and extends it with...

J. Ansari, Ran Ding, Fabio Pizzati et al. · arXiv.org · 2 citations · ⚡1