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CODA: Depth-Aligned Scene Completion and Object Decomposition from a Single RGB-D Image

arXiv · AI, language, vision and robotics · article · Sep 22, 2026 · UTC

Robots operating safely in cluttered everyday environments often need to infer scene geometry from partial observations. Methods that detect objects in 2D and reconstruct them independently struggle in such scenes: a missed object is never reconstructed, a merged detection can fuse two objects, and separately reconstructed meshes may overlap or fail to touch their supporting surfaces. We introduce CODA (Complete Once, Decompose Afterward), a generative model that instead reconstructs the complete scene geometry from a single unsegmented RGB-D image, then separates the surface into the surround

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