MooMIns -- Monocular 3D Reconstruction and Object Pose Estimation from Multiple Instances

• URL: http://arxiv.org/abs/2606.14389v1
• Date: Fri, 12 Jun 2026 12:24:50 GMT
• Title: MooMIns -- Monocular 3D Reconstruction and Object Pose Estimation from Multiple Instances
• Abstract summary: Simultaneous 3D reconstruction and 6D object pose estimation from a single monocular image is an inherently ill-posed problem.<n>In industrial settings, multiple instances of an object are often randomly arranged in bins, implicitly providing several views of the same object within a single image.<n>We show that this implicit multi-view geometry can be exploited to simultaneously reconstruct the object in 3D and estimate the 6D pose of each visible object instance.
• Score: 3.8233569758620054
• License: http://creativecommons.org/licenses/by-nc-sa/4.0/
• Abstract: Simultaneous 3D reconstruction and 6D object pose estimation from a single monocular image is an inherently ill-posed problem. In industrial settings, however, multiple instances of an object are often randomly arranged in bins, implicitly providing several views of the same object within a single image. We show that this implicit multi-view geometry can be exploited to simultaneously reconstruct the object in 3D and estimate the 6D pose of each visible object instance. We present MooMIns, a new Gaussian-splatting-based approach that inverts the original Gaussian splatting formulation: instead of rendering a single scene from multiple cameras, we render multiple object instances from a single camera. Our method is initialized with SAM3 instance segmentation masks and a modified Structure from Motion (SfM) pipeline. In contrast to learned monocular depth estimation, we perform true geometry-based reconstruction from image evidence, avoiding hallucinations caused by training data priors. We evaluate MooMIns on synthetic and real bin-picking scenarios, and demonstrate accurate reconstruction of previously unseen objects as well as reliable pose estimation of individual instance

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