מאיפה שהופעה נכשלת, גאומטריה מזהה: קדם-CAD 3D Shape Prior שמשלב דגמי ראייה

תקציר מקורי באנגליתarXiv:2609.04381v1 Announce Type: cross Abstract: Recognizing specific objects onboarded without a labeled training set recurs across manufacturing and service robotics, yet the conventional renderable prior, a computer-aided-design (CAD) model, is often unavailable. Two-dimensional capture supplies no shape prior, and frozen foundation features fail on geometrically similar, low-texture industrial parts. We ask what a short object-centric scan buys for recognition beyond the captured images themselves: each object is reconstructed with 3D Gaussian Splatting (3DGS), summarized into a per-class shape prototype, and fused with frozen DINOv2 image features. First, the scan recovers the recognition value of CAD without CAD: geometry from RGB-D depth (on T-LESS), 3DGS, and CAD gives comparable