47-view laboratory · verified bottle pick
A metric laboratory reconstruction from 47 captured views, with a free bottle picked through simulated finger contact. Moving-camera and wrist views replay the recorded MuJoCo trajectory.
Flythrough + synchronized wrist inset
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Measured results
| Held-out appearance | 27.40 dB PSNR · 0.870 SSIM |
|---|---|
| Internal MVS pair depth discrepancy | 2.17 mm |
| Minimum held surface clearance | 194.9 mm |
| Mass / friction / placement trials | 19 / 19 passed |
Appearance holdouts were excluded from reconstruction appearance training, but used for camera localization and development checks. Depth agreement measures internal consistency. The robot is a UR5e surrogate; mass and friction are assumptions. Picking begins at a solved pregrasp and has not been validated on hardware.
Images and comparisons
Verification data
Selected numerical reports from this experiment.