BrickFlow:连通性引导的积木重建
BrickFlow: Connectivity-Guided Brick Reconstruction
Peter Kulits, Cordelia Schmid
AI 速读 基于摘要
提出 BrickFlow,用集合条件 SE(3) 流模型加解析连通性场引导,从零件集合与图像推断 LEGO 拼装中各零件的位姿。
cs.CV · cs.GR
查看原文摘要
Given a set of LEGO parts and an image of an assembled object, our task is to infer the pose of each part to assemble the object. In contrast with traditional 3D reconstruction, doing so requires satisfying discrete physical constraints, which provide structure but render the problem combinatorial and highly sensitive to small pose errors. To learn a prior over how parts fit together, we train a set-conditioned SE(3) flow model on procedurally generated assemblies. We then finetune this model to inject image conditioning, using 1% as much data. However, while the learned flow captures global structure, it does not enforce connectivity. To address this, we introduce an analytic connectivity-field guidance to pull predictions toward connected assemblies at test time. Through this, we demonstrate improved build quality with model size, pretraining, and guidance. We make our models and data available for research purposes at https://kulits.github.io/BrickFlow/