mlsanityData to 14 Oct 2026

Glass Segmentation with RGB-Thermal Image Pairs

arXiv 2204.05453 ↗First posted 12 Apr 2022cs.CVcited by 26

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Abstract (arXiv)

This paper proposes a new glass segmentation method utilizing paired RGB and thermal images. Due to the large difference between the transmission property of visible light and that of the thermal energy through the glass where most glass is transparent to the visible light but opaque to thermal energy, glass regions of a scene are made more distinguishable with a pair of RGB and thermal images than solely with an RGB image. To exploit such a unique property, we propose a neural network architecture that effectively combines an RGB-thermal image pair with a new multi-modal fusion module based on attention, and integrate CNN and transformer to extract local features and non-local dependencies, respectively. As well, we have collected a new dataset containing 5551 RGB-thermal image pairs with ground-truth segmentation annotations. The qualitative and quantitative evaluations demonstrate the effectiveness of the proposed approach on fusing RGB and thermal data for glass segmentation. Our code and data are available at https://github.com/Dong-Huo/RGB-T-Glass-Segmentation.

Key facts. Cited by 26 papers in the map (data through 14 Oct 2026). Builds on 59 of its 132 references that are in the map. First posted on arXiv 12 Apr 2022.

Builds on

59 of 132 references.

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2022: 1; 2023: 6; 2024: 4; 2025: 8; 2026: 7.

26 papers.

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  1. 2022RGB-T Semantic Segmentation with Location, Activation, and Sharpeningcited by 39
  2. 2023RFENet: Towards Reciprocal Feature Evolution for Glass Segmentationcited by 19
  3. 2023TRansPose: Large-Scale Multispectral Dataset for Transparent Objectcited by 15
  4. 2024Exploring Multi-modal Neural Scene Representations With Applications on Thermal Imagingcited by 15
  5. 2023Object Segmentation by Mining Cross-Modal Semanticscited by 12
  6. 2025TranSplat: Surface Embedding-guided 3D Gaussian Splatting for Transparent Object Manipulationcited by 10
  7. 2023What Happened 3 Seconds Ago? Inferring the Past with Thermal Imagingcited by 8
  8. 2024A Multispectral Automated Transfer Technique (MATT) for machine-driven image labeling utilizing the Segment Anything Model (SAM)cited by 8
  9. 2025Monocular Depth Estimation and Segmentation for Transparent Object with Iterative Semantic and Geometric Fusioncited by 8
  10. 2025M-SpecGene: Generalized Foundation Model for RGBT Multispectral Visioncited by 8
  11. 2025Deep Learning in Concealed Dense Predictioncited by 6
  12. 2023GEM: Boost Simple Network for Glass Surface Segmentation via Vision Foundation Modelscited by 3
14 more
  1. 2025Glass Surface Segmentation with an RGB-D Camera via Weighted Feature Fusion for Service Robotscited by 3
  2. 2023Don't worry about mistakes! Glass Segmentation Network via Mistake Correctioncited by 1
  3. 2024Influence of Water Droplet Contamination for Transparency Segmentationcited by 1
  4. 2025Shaken, Not Stirred: A Novel Dataset for Visual Understanding of Glasses in Human-Robot Bartending Taskscited by 1
  5. 2024SimMAT: Exploring Transferability from Vision Foundation Models to Any Image Modalitycited by 0
  6. 2025Indoor Heat Estimation from a Single Visible-Light Panoramacited by 0
  7. 2025Glass Surface Detection: Leveraging Reflection Dynamics in Flash/No-flash Imagerycited by 0
  8. 2026MVGD-Net: A Novel Motion-aware Video Glass Surface Detection Methodcited by 0
  9. 2026SEP-YOLO: Fourier-Domain Feature Representation for Transparent Object Instance Segmentationcited by 0
  10. 2026Glass Segmentation with Fusion of Learned and General Visual Featurescited by 0
  11. 2026Transparent Fragments Contour Estimation via Visual-Tactile Fusion for Autonomous Reassemblycited by 0
  12. 2026Enhancing Glass Surface Reconstruction via Depth Prior for Robot Navigationcited by 0
  13. 2026Glass Surface Detection Grounded in 3D Visual Geometrycited by 0
  14. 2026GlassFormer: Learning Real-time Glass Segmentation using Radar-Depth Fusioncited by 0