ArtMesh: Part-Aware Articulated Mesh Fields with Motion-Consistent Dynamics

2026-05-15

AI Summary

Existing 3D Gaussian Splatting-based methods for deformable object reconstruction lack explicit surface topology, making it difficult to preserve sharp part boundaries and motion consistency. This work proposes a method to reconstruct articulated, connected triangle meshes with part-wise rigid motions from multi-view images by jointly optimizing a dynamic mesh field within a mesh-native differentiable rendering framework. The approach introduces bidirectional motion consistency constraints at both vertex and pixel levels and features a novel part-aware constrained Delaunay remeshing strategy that aligns mesh topology with semantic parts. Evaluated on the newly introduced Articulate-100 benchmark, the method significantly outperforms existing 3DGS approaches in joint parameter estimation and part-level geometry reconstruction, particularly excelling on objects with multiple moving components.

Abstract

We present ArtMesh, a mesh-native method for reconstructing articulated objects explicitly as connected triangle meshes with per-part rigid motion from multi-view images in start and end states. Existing 3D Gaussian Splatting pipelines for articulated reconstruction inherit the unstructured point-based geometry of their splatting base, which provides no surface topology for reasoning about part boundaries or enforcing motion consistency along the object's connectivity. ArtMesh instead builds on a mesh-based differentiable rendering backbone, enabling part-aware dynamics to act directly on the structured topology. To make the topology compatible with articulation, we introduce part-aware restricted Delaunay remeshing, producing connected submeshes whose triangles do not cross semantic part boundaries. The dynamic mesh field then optimizes articulation using bidirectional Vertex-wise Motion Consistency on transported mesh vertices and Pixel-wise Motion Consistency on rendered RGB-D observations. We introduce Articulate-100, a new benchmark of 100 articulated objects spanning 16 PartNet-Mobility categories. On this benchmark, ArtMesh outperforms prior 3DGS-based pipelines in joint parameter estimation and part-level geometric reconstruction, with the largest gains on objects with many movable parts.

Problem

• articulated object reconstruction
• mesh topology
• motion consistency
• part boundaries
• structured geometry

Innovation

• mesh-based reconstruction
• part-aware articulation
• motion consistency
• differentiable rendering
• restricted Delaunay remeshing