FUN REC * Reconstructing Functional 3D Scenes from Egocentric Interaction Videos

4 Microsoft 5 USI Lugano Figure 1. Real-world functional digital twins. FUN REC • takes a single egocentric RGB-D interaction video (top) and reconstructs a functional 3D digital twin of the environment (middle). The system automatically identifies articulated scene components, estimates their kinematic parameters along with per-timestep poses, and jointly reconstructs the static scene and each movable part, including interiors (see left and right). The final output is a simulation-compatible 3D scene representation with fully interactable articulated elements.