mlsanityData to 14 Oct 2026

OPDMulti: Openable Part Detection for Multiple Objects

arXiv 2303.14087 ↗First posted 24 Mar 2023cs.CVcited by 39

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Abstract (arXiv)

Openable part detection is the task of detecting the openable parts of an object in a single-view image, and predicting corresponding motion parameters. Prior work investigated the unrealistic setting where all input images only contain a single openable object. We generalize this task to scenes with multiple objects each potentially possessing openable parts, and create a corresponding dataset based on real-world scenes. We then address this more challenging scenario with OPDFormer: a part-aware transformer architecture. Our experiments show that the OPDFormer architecture significantly outperforms prior work. The more realistic multiple-object scenarios we investigated remain challenging for all methods, indicating opportunities for future work.

Key facts. Cited by 39 papers in the map (data through 14 Oct 2026). Builds on 25 of its 35 references that are in the map. First posted on arXiv 24 Mar 2023.

Builds on

25 of 35 references.

References · 25

  1. 2015Deep Residual Learning for Image Recognitioncited by 52,096
  2. 2014Microsoft COCO: Common Objects in Contextcited by 17,608
  3. 2015Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networkscited by 9,639
  4. 2020End-to-End Object Detection with Transformerscited by 7,414
  5. 2017Mask R-CNNcited by 7,277
  6. 2015Fast R-CNNcited by 2,933
  7. 2021Masked-attention Mask Transformer for Universal Image Segmentationcited by 2,351
  8. 2016V-Net: Fully Convolutional Neural Networks for Volumetric Medical Image Segmentationcited by 2,292
  9. 2021Per-Pixel Classification is Not All You Need for Semantic Segmentationcited by 1,152
  10. 2020Accelerating 3D Deep Learning with PyTorch3Dcited by 784
  11. 2020SAPIEN: A SimulAted Part-based Interactive ENvironmentcited by 595
  12. 2019Category-Level Articulated Object Pose Estimationcited by 159
13 more
  1. 2022Ditto: Building Digital Twins of Articulated Objects from Interactioncited by 156
  2. 2019Shape2Motion: Joint Analysis of Motion Parts and Attributes from 3D Shapescited by 119
  3. 2022AKB-48: A Real-World Articulated Object Knowledge Basecited by 82
  4. 2020ScrewNet: Category-Independent Articulation Model Estimation From Depth Images Using Screw Theorycited by 70
  5. 2022OPD: Single-view 3D Openable Part Detectioncited by 54
  6. 2021Leveraging SE(3) Equivariance for Self-Supervised Category-Level Object Pose Estimationcited by 45
  7. 2023Ditto in the House: Building Articulation Models of Indoor Scenes through Interactive Perceptioncited by 41
  8. 2020Visual Identification of Articulated Object Partscited by 37
  9. 2022Understanding 3D Object Articulation in Internet Videoscited by 36
  10. 2022Category-Independent Articulated Object Tracking with Factor Graphscited by 24
  11. 2020Self-Supervised Learning of Part Mobility from Point Cloud Sequencecited by 18
  12. 2021Distributional Depth-Based Estimation of Object Articulation Modelscited by 18
  13. 2023CA2T-Net: Category-Agnostic 3D Articulation Transfer from Single Imagecited by 3

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 1; 2024: 7; 2025: 17; 2026: 14.

39 papers.

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  1. 2024Real2Code: Reconstruct Articulated Objects via Code Generationcited by 69
  2. 2025ArtGS: Building Interactable Replicas of Complex Articulated Objects via Gaussian Splattingcited by 67
  3. 2025Articulate AnyMesh: Open-Vocabulary 3D Articulated Objects Modelingcited by 43
  4. 2025PhysX-3D: Physical-Grounded 3D Asset Generationcited by 42
  5. 2023Understanding 3D Object Interaction from a Single Imagecited by 33
  6. 2024Articulate your NeRF: Unsupervised articulated object modeling via conditional view synthesiscited by 24
  7. 2024S2O: Static to Openable Enhancement for Articulated 3D Objectscited by 22
  8. 2025FreeArt3D: Training-Free Articulated Object Generation using 3D Diffusioncited by 22
  9. 2025iTACO: Interactable Digital Twins of Articulated Objects from Casually Captured RGBD Videoscited by 19
  10. 2025Dexterous World Modelscited by 18
  11. 2025GaussianArt: Unified Modeling of Geometry and Motion for Articulated Objectscited by 17
  12. 2025VideoArtGS: Building Digital Twins of Articulated Objects from Monocular Videocited by 15
27 more
  1. 2024Survey on Modeling of Human-made Articulated Objectscited by 14
  2. 2025LARM: A Large Articulated-Object Reconstruction Modelcited by 12
  3. 2024Articulate3D: Holistic Understanding of 3D Scenes as Universal Scene Descriptioncited by 9
  4. 2025ART: Articulated Reconstruction Transformercited by 9
  5. 2026FunRec: Reconstructing Functional 3D Scenes from Egocentric Interaction Videoscited by 8
  6. 2025REACT3D: Recovering Articulations for Interactive Physical 3D Scenescited by 7
  7. 2025MonoMobility: Zero-Shot 3D Mobility Analysis from Monocular Videoscited by 6
  8. 2026Articulation in Motion: Prior-free Part Mobility Analysis for Articulated Objects By Dynamic-Static Disentanglementcited by 6
  9. 2025Advances in 4D Representation: Geometry, Motion, and Interactioncited by 4
  10. 2026Artiverse: A Diverse and Physically Grounded Dataset for Articulated Objectscited by 4
  11. 2026FreeArtGS: Articulated Gaussian Splatting Under Free-moving Scenariocited by 3
  12. 2025DYNAMO: Dependency-Aware Deep Learning Framework for Articulated Assembly Motion Predictioncited by 2
  13. 2025UniArt: Unified 3D Representation for Generating 3D Articulated Objects with Open-Set Articulationcited by 2
  14. 2025sim2art: Accurate Articulated Object Modeling from a Single Video using Synthetic Training Data Onlycited by 2
  15. 2026PAWS: Perception of Articulation in the Wild at Scale from Egocentric Videoscited by 2
  16. 2024Opening Articulated Structures in the Real Worldcited by 1
  17. 2024Locate n' Rotate: Two-stage Openable Part Detection with Foundation Model Priorscited by 1
  18. 2025PAOLI: Pose-free Articulated Object Learning from Sparse-view Imagescited by 1
  19. 2026ArtPro: Self-Supervised Articulated Object Reconstruction with Adaptive Integration of Mobility Proposalscited by 1
  20. 2026ArtMesh: Part-Aware Articulated Mesh Fields with Motion-Consistent Dynamicscited by 1
  21. 2026GSAM: A Generalizable and Safe Robotic Framework for Articulated Object Manipulationcited by 0
  22. 2026AFUN: Towards an Affordance Foundation Model for Functionality Understandingcited by 0
  23. 2026ArtLang: Structured Language-to-Kinematics Grounding for Articulated 3D Actuationcited by 0
  24. 2026FAMOS: Feed-Forward 3D Articulation Modeling from Sparse Observationscited by 0
  25. 2026ForceTwin: Physics-informed Digital Twins for Robotic Manipulation from Instrumented Human Interactioncited by 0
  26. 2026Geometric and Semantic Coupling for Interaction Understanding in 3D Scenescited by 0
  27. 2026ViewStruct: View-Grounded Articulation and Connectivity Inferencecited by 0