# Structure from Collision

arXiv: https://arxiv.org/abs/2505.21335 · HTML: https://mlsanity.com/paper/2505.21335/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 73 of its 81 references that are in the map.
- First posted on arXiv 27 May 2025.

## Builds on (most cited first, 30 of 73)

- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [Instant Neural Graphics Primitives with a Multiresolution Hash Encoding](https://mlsanity.com/paper/2201.05989/) (2022)
- [DreamFusion: Text-to-3D using 2D Diffusion](https://mlsanity.com/paper/2209.14988/) (2022)
- [Mip-NeRF 360: Unbounded Anti-Aliased Neural Radiance Fields](https://mlsanity.com/paper/2111.12077/) (2021)
- [Mip-NeRF: A Multiscale Representation for Anti-Aliasing Neural Radiance Fields](https://mlsanity.com/paper/2103.13415/) (2021)
- [Plenoxels: Radiance Fields without Neural Networks](https://mlsanity.com/paper/2112.05131/) (2021)
- [D-NeRF: Neural Radiance Fields for Dynamic Scenes](https://mlsanity.com/paper/2011.13961/) (2020)
- [Magic3D: High-Resolution Text-to-3D Content Creation](https://mlsanity.com/paper/2211.10440/) (2022)
- [TensoRF: Tensorial Radiance Fields](https://mlsanity.com/paper/2203.09517/) (2022)
- [ProlificDreamer: High-Fidelity and Diverse Text-to-3D Generation with Variational Score Distillation](https://mlsanity.com/paper/2305.16213/) (2023)
- [Efficient Geometry-aware 3D Generative Adversarial Networks](https://mlsanity.com/paper/2112.07945/) (2021)
- [Nerfies: Deformable Neural Radiance Fields](https://mlsanity.com/paper/2011.12948/) (2020)
- [Direct Voxel Grid Optimization: Super-fast Convergence for Radiance Fields Reconstruction](https://mlsanity.com/paper/2111.11215/) (2021)
- [Neural Sparse Voxel Fields](https://mlsanity.com/paper/2007.11571/) (2020)
- [PlenOctrees for Real-time Rendering of Neural Radiance Fields](https://mlsanity.com/paper/2103.14024/) (2021)
- [NeRF++: Analyzing and Improving Neural Radiance Fields](https://mlsanity.com/paper/2010.07492/) (2020)
- [DreamGaussian: Generative Gaussian Splatting for Efficient 3D Content Creation](https://mlsanity.com/paper/2309.16653/) (2023)
- [GIRAFFE: Representing Scenes as Compositional Generative Neural Feature Fields](https://mlsanity.com/paper/2011.12100/) (2020)
- [Deformable 3D Gaussians for High-Fidelity Monocular Dynamic Scene Reconstruction](https://mlsanity.com/paper/2309.13101/) (2023)
- [Neural Scene Flow Fields for Space-Time View Synthesis of Dynamic Scenes](https://mlsanity.com/paper/2011.13084/) (2020)
- [LGM: Large Multi-View Gaussian Model for High-Resolution 3D Content Creation](https://mlsanity.com/paper/2402.05054/) (2024)
- [Dynamic 3D Gaussians: Tracking by Persistent Dynamic View Synthesis](https://mlsanity.com/paper/2308.09713/) (2023)
- [pi-GAN: Periodic Implicit Generative Adversarial Networks for 3D-Aware Image Synthesis](https://mlsanity.com/paper/2012.00926/) (2020)
- [GRAF: Generative Radiance Fields for 3D-Aware Image Synthesis](https://mlsanity.com/paper/2007.02442/) (2020)
- [Fantasia3D: Disentangling Geometry and Appearance for High-quality Text-to-3D Content Creation](https://mlsanity.com/paper/2303.13873/) (2023)
- [KiloNeRF: Speeding up Neural Radiance Fields with Thousands of Tiny MLPs](https://mlsanity.com/paper/2103.13744/) (2021)
- [Zip-NeRF: Anti-Aliased Grid-Based Neural Radiance Fields](https://mlsanity.com/paper/2304.06706/) (2023)
- [Mip-Splatting: Alias-free 3D Gaussian Splatting](https://mlsanity.com/paper/2311.16493/) (2023)
- [Ref-NeRF: Structured View-Dependent Appearance for Neural Radiance Fields](https://mlsanity.com/paper/2112.03907/) (2021)
- [FastNeRF: High-Fidelity Neural Rendering at 200FPS](https://mlsanity.com/paper/2103.10380/) (2021)

## Built on by (most cited first, 1 of 1)

- [MonoPhysics: Estimating Geometry, Appearance, and Physical Parameters from Monocular Videos](https://mlsanity.com/paper/2605.30320/) (2026)

## Abstract (arXiv)

Recent advancements in neural 3D representations, such as neural radiance fields (NeRF) and 3D Gaussian splatting (3DGS), have enabled the accurate estimation of 3D structures from multiview images. However, this capability is limited to estimating the visible external structure, and identifying the invisible internal structure hidden behind the surface is difficult. To overcome this limitation, we address a new task called Structure from Collision (SfC), which aims to estimate the structure (including the invisible internal structure) of an object from appearance changes during collision. To solve this problem, we propose a novel model called SfC-NeRF that optimizes the invisible internal structure of an object through a video sequence under physical, appearance (i.e., visible external structure)-preserving, and keyframe constraints. In particular, to avoid falling into undesirable local optima owing to its ill-posed nature, we propose volume annealing; that is, searching for global optima by repeatedly reducing and expanding the volume. Extensive experiments on 115 objects involving diverse structures (i.e., various cavity shapes, locations, and sizes) and material properties revealed the properties of SfC and demonstrated the effectiveness of the proposed SfC-NeRF.