Feb. 9, 2024, 5:47 a.m. | Tutian Tang Jiyu Liu Jieyi Zhang Haoyuan Fu Wenqiang Xu Cewu Lu

cs.CV updates on arXiv.org arxiv.org

Transparent objects are widely used in our daily lives, making it important to teach robots to interact with them. However, it's not easy because the reflective and refractive effects can make depth cameras fail to give accurate geometry measurements. To solve this problem, this paper introduces RFTrans, an RGB-D-based method for surface normal estimation and manipulation of transparent objects. By leveraging refractive flow as an intermediate representation, the proposed method circumvents the drawbacks of directly predicting the geometry (e.g. surface …

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