mlsanityData to 14 Oct 2026

OPD: Single-view 3D Openable Part Detection

arXiv 2203.16421 ↗First posted 30 Mar 2022cs.CVcited by 54

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Abstract (arXiv)

We address the task of predicting what parts of an object can open and how they move when they do so. The input is a single image of an object, and as output we detect what parts of the object can open, and the motion parameters describing the articulation of each openable part. To tackle this task, we create two datasets of 3D objects: OPDSynth based on existing synthetic objects, and OPDReal based on RGBD reconstructions of real objects. We then design OPDRCNN, a neural architecture that detects openable parts and predicts their motion parameters. Our experiments show that this is a challenging task especially when considering generalization across object categories, and the limited amount of information in a single image. Our architecture outperforms baselines and prior work especially for RGB image inputs. Short video summary at https://www.youtube.com/watch?v=P85iCaD0rfc

Key facts. Cited by 54 papers in the map (data through 14 Oct 2026). Builds on 33 of its 50 references that are in the map. First posted on arXiv 30 Mar 2022.

Builds on

33 of 50 references.

References · 33

  1. 2014Microsoft COCO: Common Objects in Contextcited by 17,608
  2. 2017Mask R-CNNcited by 7,277
  3. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,401
  4. 2017ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenescited by 3,117
  5. 2020YOLOv4: Optimal Speed and Accuracy of Object Detectioncited by 1,630
  6. 2017Matterport3D: Learning from RGB-D Data in Indoor Environmentscited by 1,376
  7. 2019ALFRED: A Benchmark for Interpreting Grounded Instructions for Everyday Taskscited by 783
  8. 2018Open3D: A Modern Library for 3D Data Processingcited by 721
  9. 2020SAPIEN: A SimulAted Part-based Interactive ENvironmentcited by 595
  10. 2018PartNet: A Large-scale Benchmark for Fine-grained and Hierarchical Part-level 3D Object Understandingcited by 526
  11. 2021Habitat 2.0: Training Home Assistants to Rearrange their Habitatcited by 511
  12. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 495
21 more
  1. 2017Learning from Synthetic Humanscited by 359
  2. 2014Detect What You Can: Detecting and Representing Objects using Holistic Models and Body Partscited by 232
  3. 2021BEHAVIOR: Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environmentscited by 165
  4. 2019Category-Level Articulated Object Pose Estimationcited by 159
  5. 2020Rearrangement: A Challenge for Embodied AIcited by 155
  6. 2019Shape2Motion: Joint Analysis of Motion Parts and Attributes from 3D Shapescited by 119
  7. 2021Visual Room Rearrangementcited by 102
  8. 2022AKB-48: A Real-World Articulated Object Knowledge Basecited by 82
  9. 2020ScrewNet: Category-Independent Articulation Model Estimation From Depth Images Using Screw Theorycited by 70
  10. 2018Deep Part Induction from Articulated Object Pairscited by 66
  11. 2021MultiBodySync: Multi-Body Segmentation and Motion Estimation via 3D Scan Synchronizationcited by 46
  12. 2021Articulated Object Interaction in Unknown Scenes with Whole-Body Mobile Manipulationcited by 44
  13. 2017Joint Multi-Person Pose Estimation and Semantic Part Segmentationcited by 41
  14. 2020Visual Identification of Articulated Object Partscited by 37
  15. 2018The RBO Dataset of Articulated Objects and Interactionscited by 34
  16. 2020RPM-Net: Recurrent Prediction of Motion and Parts from Point Cloudcited by 26
  17. 2020Nothing But Geometric Constraints: A Model-Free Method for Articulated Object Pose Estimationcited by 25
  18. 2015Joint Object and Part Segmentation using Deep Learned Potentialscited by 23
  19. 2014Semantic Part Segmentation using Compositional Model combining Shape and Appearancecited by 22
  20. 2016Beyond Holistic Object Recognition: Enriching Image Understanding with Part Statescited by 13
  21. 2018Learning to Group and Label Fine-Grained Shape Componentscited by 9

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 8; 2024: 9; 2025: 19; 2026: 18.

54 papers.

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  1. 2024Real2Code: Reconstruct Articulated Objects via Code Generationcited by 69
  2. 2023CAGE: Controllable Articulation GEnerationcited by 52
  3. 2025Articulate AnyMesh: Open-Vocabulary 3D Articulated Objects Modelingcited by 43
  4. 2023OPDMulti: Openable Part Detection for Multiple Objectscited by 39
  5. 2023Where2Explore: Few-shot Affordance Learning for Unseen Novel Categories of Articulated Objectscited by 35
  6. 2023Building Rearticulable Models for Arbitrary 3D Objects from 4D Point Cloudscited by 34
  7. 2023Understanding 3D Object Interaction from a Single Imagecited by 33
  8. 2024Articulate your NeRF: Unsupervised articulated object modeling via conditional view synthesiscited by 24
  9. 2024S2O: Static to Openable Enhancement for Articulated 3D Objectscited by 22
  10. 2025FreeArt3D: Training-Free Articulated Object Generation using 3D Diffusioncited by 22
  11. 2025iTACO: Interactable Digital Twins of Articulated Objects from Casually Captured RGBD Videoscited by 19
  12. 2025GaussianArt: Unified Modeling of Geometry and Motion for Articulated Objectscited by 17
38 more
  1. 2024Survey on Modeling of Human-made Articulated Objectscited by 14
  2. 2025Detection Based Part-level Articulated Object Reconstruction from Single RGBD Imagecited by 13
  3. 2025SplArt: Articulation Estimation and Part-Level Reconstruction with 3D Gaussian Splattingcited by 13
  4. 2025LARM: A Large Articulated-Object Reconstruction Modelcited by 12
  5. 2025IAAO: Interactive Affordance Learning for Articulated Objects in 3D Environmentscited by 11
  6. 2024Articulate3D: Holistic Understanding of 3D Scenes as Universal Scene Descriptioncited by 9
  7. 2025ART: Articulated Reconstruction Transformercited by 9
  8. 2024OP-Align: Object-level and Part-level Alignment for Self-supervised Category-level Articulated Object Pose Estimationcited by 8
  9. 2025Unified Semantic Transformer for 3D Scene Understandingcited by 8
  10. 2026FunRec: Reconstructing Functional 3D Scenes from Egocentric Interaction Videoscited by 8
  11. 2025Articulate That Object Part (ATOP): 3D Part Articulation via Text and Motion Personalizationcited by 7
  12. 2025Digital Twin Generation from Visual Data: A Surveycited by 7
  13. 2025REACT3D: Recovering Articulations for Interactive Physical 3D Scenescited by 7
  14. 2023RoSI: Recovering 3D Shape Interiors from Few Articulation Imagescited by 6
  15. 2024Arti-PG: A Toolbox for Procedurally Synthesizing Large-Scale and Diverse Articulated Objects with Rich Annotationscited by 6
  16. 2025MonoMobility: Zero-Shot 3D Mobility Analysis from Monocular Videoscited by 6
  17. 2026Articulation in Motion: Prior-free Part Mobility Analysis for Articulated Objects By Dynamic-Static Disentanglementcited by 6
  18. 2023Active Coarse-to-Fine Segmentation of Moveable Parts from Real Imagescited by 5
  19. 2025CAP-Net: A Unified Network for 6D Pose and Size Estimation of Categorical Articulated Parts from a Single RGB-D Imagecited by 5
  20. 2025Advances in 4D Representation: Geometry, Motion, and Interactioncited by 4
  21. 2026Artiverse: A Diverse and Physically Grounded Dataset for Articulated Objectscited by 4
  22. 2023CA2T-Net: Category-Agnostic 3D Articulation Transfer from Single Imagecited by 3
  23. 2026Online Estimation and Manipulation of Articulated Objectscited by 3
  24. 2025sim2art: Accurate Articulated Object Modeling from a Single Video using Synthetic Training Data Onlycited by 2
  25. 2026PAWS: Perception of Articulation in the Wild at Scale from Egocentric Videoscited by 2
  26. 2024Opening Articulated Structures in the Real Worldcited by 1
  27. 2024Locate n' Rotate: Two-stage Openable Part Detection with Foundation Model Priorscited by 1
  28. 2025PAOLI: Pose-free Articulated Object Learning from Sparse-view Imagescited by 1
  29. 2026ArtPro: Self-Supervised Articulated Object Reconstruction with Adaptive Integration of Mobility Proposalscited by 1
  30. 2026EgoFun3D: Modeling Interactive Objects from Egocentric Videos using Function Templatescited by 1
  31. 2026ArtMesh: Part-Aware Articulated Mesh Fields with Motion-Consistent Dynamicscited by 1
  32. 2025PinPoint3D: Fine-Grained 3D Part Segmentation from a Few Clickscited by 0
  33. 2026DailyArt: Discovering Articulation from Single Static Images via Latent Dynamicscited by 0
  34. 2026GSAM: A Generalizable and Safe Robotic Framework for Articulated Object Manipulationcited by 0
  35. 2026AFUN: Towards an Affordance Foundation Model for Functionality Understandingcited by 0
  36. 2026URDF Synthesis from RGB-D Sequences via Differentiable Joint Inference and Energy-Consistent Verificationcited by 0
  37. 2026ArtLang: Structured Language-to-Kinematics Grounding for Articulated 3D Actuationcited by 0
  38. 2026FAMOS: Feed-Forward 3D Articulation Modeling from Sparse Observationscited by 0

50 most cited of 54 All 54 (JSON)