Abstract
Object-centric scene reconstruction requires completing partial object observations while preserving metric alignment and avoiding collisions with the surrounding. Existing generation-based methods are often image-conditioned and suffer from scale ambiguity and insufficient geometric constraints. We propose COOL, a framework for COllision-aware and Observation-aLigned reconstruction. Based on an object generation model, COOL conditions the generation on instance and background point clouds. Instance geometry anchors generation in scene coordinates, while background geometry provides local context for scene-consistent completion. We further introduce an explicit collision loss and use joint optimization and resampling to reduce collisions during inference. Experiments on 3D-Front and Scan2CAD demonstrate strong scene-level fidelity, observation alignment, and collision reduction. Moreover, additional studies validate its robustness to mask errors and its applicability to real-world scene replicas.
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Publication details
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- Open access
- Green open access
Cite this article
APA 7
Xie, Y., Yu, X., Xiong, R., & Wang, Y. (2026). Collision-Aware and Observation-Aligned Object-Centric Scene Reconstruction from Point Cloud. https://omanscience.com/en/articles/collision-aware-and-observation-aligned-object-centric-scene-reconstruction-from-point-cloud
MLA 9
Xie, Yuxuan, et al. "Collision-Aware and Observation-Aligned Object-Centric Scene Reconstruction from Point Cloud." https://omanscience.com/en/articles/collision-aware-and-observation-aligned-object-centric-scene-reconstruction-from-point-cloud.
Chicago (author–date)
Xie, Yuxuan, Xuan Yu, Rong Xiong, and Yue Wang. 2026. "Collision-Aware and Observation-Aligned Object-Centric Scene Reconstruction from Point Cloud." https://omanscience.com/en/articles/collision-aware-and-observation-aligned-object-centric-scene-reconstruction-from-point-cloud.
Harvard
Xie, Y., Yu, X., Xiong, R. and Wang, Y. (2026) 'Collision-Aware and Observation-Aligned Object-Centric Scene Reconstruction from Point Cloud', Available at: https://omanscience.com/en/articles/collision-aware-and-observation-aligned-object-centric-scene-reconstruction-from-point-cloud.
Vancouver
Xie Y, Yu X, Xiong R, Wang Y. Collision-Aware and Observation-Aligned Object-Centric Scene Reconstruction from Point Cloud. https://omanscience.com/en/articles/collision-aware-and-observation-aligned-object-centric-scene-reconstruction-from-point-cloud
IEEE
Y. Xie, X. Yu, R. Xiong, and Y. Wang, "Collision-Aware and Observation-Aligned Object-Centric Scene Reconstruction from Point Cloud," https://omanscience.com/en/articles/collision-aware-and-observation-aligned-object-centric-scene-reconstruction-from-point-cloud.