CAOA -- Completion-Assisted Object-CAD Alignment

Completion-Assisted Object-CAD Alignment (CAOA) is introduced as a novel method for aligning CAD models with indoor RGB-D scans, addressing challenges posed by noise and segmentation errors. It combines a point cloud completion module with a symmetry-aware pose estimation algorithm, leveraging a newly developed synthetic data generation strategy tailored for indoor scenes to enhance real-world applicability. CAOA demonstrates a 17% accuracy improvement on the Scan2CAD benchmark and is supported by the release of S2C-Completion, a dataset of over 8,500 annotated object-CAD pairs, setting a new standard for alignment tasks in 3D semantic reconstruction.