# Reconstructing Articulated Rigged Models from RGB-D Videos

arXiv: https://arxiv.org/abs/1609.01371 · HTML: https://mlsanity.com/paper/1609.01371/

## Key facts

- Cited by 8 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 6 Sep 2016.

## Built on by (most cited first, 8 of 8)

- [ARCTIC: A Dataset for Dexterous Bimanual Hand-Object Manipulation](https://mlsanity.com/paper/2204.13662/) (2022)
- [VAT-Mart: Learning Visual Action Trajectory Proposals for Manipulating 3D ARTiculated Objects](https://mlsanity.com/paper/2106.14440/) (2021)
- [AdaAfford: Learning to Adapt Manipulation Affordance for 3D Articulated Objects via Few-shot Interactions](https://mlsanity.com/paper/2112.00246/) (2021)
- [MultiBodySync: Multi-Body Segmentation and Motion Estimation via 3D Scan Synchronization](https://mlsanity.com/paper/2101.06605/) (2021)
- [Building Rearticulable Models for Arbitrary 3D Objects from 4D Point Clouds](https://mlsanity.com/paper/2306.00979/) (2023)
- [Morig: Motion-aware rigging of character meshes from point clouds](https://mlsanity.com/paper/2210.09463/) (2022)
- [iTACO: Interactable Digital Twins of Articulated Objects from Casually Captured RGBD Videos](https://mlsanity.com/paper/2506.08334/) (2025)
- [AutoGPart: Intermediate Supervision Search for Generalizable 3D Part Segmentation](https://mlsanity.com/paper/2203.06558/) (2022)

## Abstract (arXiv)

Although commercial and open-source software exist to reconstruct a static object from a sequence recorded with an RGB-D sensor, there is a lack of tools that build rigged models of articulated objects that deform realistically and can be used for tracking or animation. In this work, we fill this gap and propose a method that creates a fully rigged model of an articulated object from depth data of a single sensor. To this end, we combine deformable mesh tracking, motion segmentation based on spectral clustering and skeletonization based on mean curvature flow. The fully rigged model then consists of a watertight mesh, embedded skeleton, and skinning weights.