# RGBD-to-3D Object Mesh Refinement via Depth Matching and Symmetry Propagation

arXiv: https://arxiv.org/abs/2610.11187 · HTML: https://mlsanity.com/paper/2610.11187/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 9 of its 55 references that are in the map.
- First posted on arXiv 8 Oct 2026.

## Builds on (most cited first, 9 of 9)

- [DreamFusion: Text-to-3D using 2D Diffusion](https://mlsanity.com/paper/2209.14988/) (2022)
- [MVDream: Multi-view Diffusion for 3D Generation](https://mlsanity.com/paper/2308.16512/) (2023)
- [LRM: Large Reconstruction Model for Single Image to 3D](https://mlsanity.com/paper/2311.04400/) (2023)
- [SyncDreamer: Generating Multiview-consistent Images from a Single-view Image](https://mlsanity.com/paper/2309.03453/) (2023)
- [InstantMesh: Efficient 3D Mesh Generation from a Single Image with Sparse-view Large Reconstruction Models](https://mlsanity.com/paper/2404.07191/) (2024)
- [Instant3D: Fast Text-to-3D with Sparse-View Generation and Large Reconstruction Model](https://mlsanity.com/paper/2311.06214/) (2023)
- [TripoSR: Fast 3D Object Reconstruction from a Single Image](https://mlsanity.com/paper/2403.02151/) (2024)
- [MeshLRM: Large Reconstruction Model for High-Quality Meshes](https://mlsanity.com/paper/2404.12385/) (2024)
- [TTT3R: 3D Reconstruction as Test-Time Training](https://mlsanity.com/paper/2509.26645/) (2025)

## Abstract (arXiv)

Single-view 3D reconstructors often produce plausible meshes that disagree with the input view, especially near depth discontinuities and self-occlusions. We present a lightweight, plug-and-play RGBD-to-3D refinement that improves any RGB-to-3D reconstructor without retraining. Given a depth map, we correct the visible surface by bipartite matching to back-projected depth points, mirror these corrections onto the occluded side across a detected symmetry plane, and propagate them with a smoothness solver. Every stage is closed-form, making the method orders of magnitude faster than optimization-heavy test-time refinement. On GSO and OmniObject3D with five backbones, it yields consistent gains, also with monocular pseudo-depth, benefits more from symmetry on symmetric objects, and compares favorably with prior refinement in accuracy and runtime. It further improves an RGB-D-to-mesh reconstructor and transfers to real captures with noisy sensor depth.