Precise reconstruction and manipulation of the crumpled cloths is challenging due to the high dimensionality of cloth models, as well as the limited observation at self-occluded regions. We leverage the recent progress in the field of single-view human reconstruction to template-based reconstruct crumpled cloths from their top-view depth observations only, with our proposed sim-real registration protocols. In contrast to previous implicit cloth representations, our reconstruction mesh explicitly describes the positions and visibilities of the entire cloth mesh vertices, enabling more efficient dual-arm and single-arm target-oriented manipulations. Experiments demonstrate that our TRTM system can be applied to daily cloths that have similar topologies as our template mesh, but with different shapes, sizes, patterns, and physical properties. Videos, datasets, pre-trained models, and code can be downloaded from our project website: https://wenbwa.github.io/TRTM/ .

翻译：由于布料模型的高维特性以及自遮挡区域的观测受限，精准重建与操控皱褶衣物面临巨大挑战。我们利用单视角人体重建领域的最新进展，结合所提出的仿真-真实配准协议，仅通过俯视深度观测即可实现基于模板的皱褶衣物重建。与先前隐式布料表示不同，我们的重建网格显式描述了整个布料网格顶点的位置与可见性，从而支持更高效的双臂与单臂目标导向操控。实验表明，我们的TRTM系统可应用于日常衣物——这些衣物虽与模板网格具有相似拓扑结构，但在形状、尺寸、图案及物理属性上存在差异。相关视频、数据集、预训练模型及代码均可从项目网站获取：https://wenbwa.github.io/TRTM/ 。