MonoArt: Progressive Structural Reasoning for Monocular Articulated 3D Reconstruction

🤗 Upvotes: 28 | cs.CV

Authors:
Haitian Li, Haozhe Xie, Junxiang Xu, Beichen Wen, Fangzhou Hong, Ziwei Liu

Title:
MonoArt: Progressive Structural Reasoning for Monocular Articulated 3D Reconstruction

Arxiv:
http://arxiv.org/abs/2603.19231v1

Abstract:
Reconstructing articulated 3D objects from a single image requires jointly inferring object geometry, part structure, and motion parameters from limited visual evidence. A key difficulty lies in the entanglement between motion cues and object structure, which makes direct articulation regression unstable. Existing methods address this challenge through multi-view supervision, retrieval-based assembly, or auxiliary video generation, often sacrificing scalability or efficiency. We present MonoArt, a unified framework grounded in progressive structural reasoning. Rather than predicting articulation directly from image features, MonoArt progressively transforms visual observations into canonical geometry, structured part representations, and motion-aware embeddings within a single architecture. This structured reasoning process enables stable and interpretable articulation inference without external motion templates or multi-stage pipelines. Extensive experiments on PartNet-Mobility demonstrate that OM achieves state-of-the-art performance in both reconstruction accuracy and inference speed. The framework further generalizes to robotic manipulation and articulated scene reconstruction.