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objects with similar type and shape a common in man-made environment in this work we try to exploit this fact for improving volumetric 3d reconstruction given an initial reconstruction of the scene we detect similar objects and jointly construct a model of them while aligning them with the observations our objective iteratively aligns the object instances while updating the model parameters here we show a close-up at the same scene with a joint reconstruction overlaid over the initial reconstruction note our results shown on the right are able to reduce clutter and complete missing surfaces in the baseline reconstruction on the left