相关论文: GAA-TSO: Geometry-Aware Assisted Depth Completion …

Exploiting internal spatial geometric constraints of sparse LiDARs is beneficial to depth completion, however, has been not explored well. This paper proposes an efficient method to learn geometry-aware embedding, which encodes the local…

The perception of transparent objects for grasp and manipulation remains a major challenge, because existing robotic grasp methods which heavily rely on depth maps are not suitable for transparent objects due to their unique visual…

Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…

Majority of the perception methods in robotics require depth information provided by RGB-D cameras. However, standard 3D sensors fail to capture depth of transparent objects due to refraction and absorption of light. In this paper, we…

Transparent object grasping remains a persistent challenge in robotics, largely due to the difficulty of acquiring precise 3D information. Conventional optical 3D sensors struggle to capture transparent objects, and machine learning methods…

Transparent object manipulation remains a significant challenge in robotics due to the difficulty of acquiring accurate and dense depth measurements. Conventional depth sensors often fail with transparent objects, resulting in incomplete or…

Accurate three-dimensional perception is essential for modern industrial robotic systems that perform manipulation, inspection, and navigation tasks. RGB-D and stereo vision sensors are widely used for this purpose, but the depth maps they…

The emergence of neural and Gaussian-based radiance field methods has led to considerable advancements in novel view synthesis and 3D object reconstruction. Nonetheless, specular reflection and refraction continue to pose significant…

Depth information provides valuable insights into the 3D structure especially the outline of objects, which can be utilized to improve the semantic segmentation tasks. However, a naive fusion of depth information can disrupt feature and…

Recent advancements in 3D robotic manipulation have improved grasping of everyday objects, but transparent and specular materials remain challenging due to depth sensing limitations. While several 3D reconstruction and depth completion…

Depth completion, aiming to predict dense depth maps from sparse depth measurements, plays a crucial role in many computer vision related applications. Deep learning approaches have demonstrated overwhelming success in this task. However,…

Reconstructing transparent surfaces is essential for tasks such as robotic manipulation in labs, yet it poses a significant challenge for 3D reconstruction techniques like 3D Gaussian Splatting (3DGS). These methods often encounter a…

The basis of many object manipulation algorithms is RGB-D input. Yet, commodity RGB-D sensors can only provide distorted depth maps for a wide range of transparent objects due light refraction and absorption. To tackle the perception…

Opaque objects reconstructed by 3DGS often exhibit a falsely transparent surface, leading to inconsistent background and internal patterns under camera motion in interactive viewing. This issue stems from the ill-posed optimization in 3DGS.…

Transparent objects are common in daily life, while their optical properties pose challenges for RGB-D cameras to capture accurate depth information. This issue is further amplified when these objects are hand-held, as hand occlusions…

Depth completion is a key task in autonomous driving, aiming to complete sparse LiDAR depth measurements into high-quality dense depth maps through image guidance. However, existing methods usually treat depth maps as an additional channel…

Transparent and reflective objects in everyday environments pose significant challenges for depth sensors due to their unique visual properties, such as specular reflections and light transmission. These characteristics often lead to…

Transparent object perception is indispensable for numerous robotic tasks. However, accurately segmenting and estimating the depth of transparent objects remain challenging due to complex optical properties. Existing methods primarily delve…

Transparent objects are common in our daily life and frequently handled in the automated production line. Robust vision-based robotic grasping and manipulation for these objects would be beneficial for automation. However, the majority of…

Transparent objects are a common part of everyday life, yet they possess unique visual properties that make them incredibly difficult for standard 3D sensors to produce accurate depth estimates for. In many cases, they often appear as noisy…