This repository implements a pipeline that reconstructs interactive indoor scenes from point clouds. The pipeline replaces parts of objects with primitive shapes and represents the reconstructed scene as a contact graph. The reconstructed scene can be converted to a URDF which reflects objects’ and the scene’s kinematics and can be imported into various simulators to support robot interactions.
- Zeyu Zhang*, Lexing Zhang*, Zaijin Wang, Ziyuan Jiao, Muzhi Han, Yixin Zhu, Song-Chun Zhu, and Hangxin Liu. Part-level Scene Reconstruction Affords Robot Interaction, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023 [Paper] [Arxiv]
@inproceedings{zhang2023part,
title={Part-level Scene Reconstruction Affords Robot Interaction},
author={Zhang, Zeyu and Zhang, Lexing and Wang, Zaijin and Jiao, Ziyuan and Han, Muzhi and Zhu, Yixin and Zhu, Song-Chun and Liu, Hangxin},
booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year={2023}
}