mlsanityData to 7 Oct 2026

Grasping the Inconspicuous

arXiv 2211.08182 ↗First posted 15 Nov 2022cs.CV cs.ROcited by 1

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Abstract (arXiv)

Transparent objects are common in day-to-day life and hence find many applications that require robot grasping. Many solutions toward object grasping exist for non-transparent objects. However, due to the unique visual properties of transparent objects, standard 3D sensors produce noisy or distorted measurements. Modern approaches tackle this problem by either refining the noisy depth measurements or using some intermediate representation of the depth. Towards this, we study deep learning 6D pose estimation from RGB images only for transparent object grasping. To train and test the suitability of RGB-based object pose estimation, we construct a dataset of RGB-only images with 6D pose annotations. The experiments demonstrate the effectiveness of RGB image space for grasping transparent objects.

Key facts. Cited by 1 paper in the map (data through 7 Oct 2026). Builds on 16 of its 31 references that are in the map. First posted on arXiv 15 Nov 2022.

Builds on

16 of 31 references.

References · 16

  1. 2014Adam: A Method for Stochastic Optimizationcited by 36,960
  2. 2014ImageNet Large Scale Visual Recognition Challengecited by 8,441
  3. 2019Pix2Pose: Pixel-Wise Coordinate Regression of Objects for 6D Pose Estimationcited by 218
  4. 2019Implicit 3D Orientation Learning for 6D Object Detection from RGB Imagescited by 170
  5. 2020EPOS: Estimating 6D Pose of Objects with Symmetriescited by 147
  6. 2017Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping and Cross-Domain Image Matchingcited by 124
  7. 2019ClearGrasp: 3D Shape Estimation of Transparent Objects for Manipulationcited by 124
  8. 2020Segmenting Transparent Objects in the Wildcited by 98
  9. 2019KeyPose: Multi-View 3D Labeling and Keypoint Estimation for Transparent Objectscited by 75
  10. 2021RGB-D Local Implicit Function for Depth Completion of Transparent Objectscited by 64
  11. 2017A Dataset for Developing and Benchmarking Active Visioncited by 50
  12. 2018TOM-Net: Learning Transparent Object Matting from a Single Imagecited by 34
4 more
  1. 2015TransCut: Transparent Object Segmentation from a Light-Field Imagecited by 27
  2. 2020PyraPose: Feature Pyramids for Fast and Accurate Object Pose Estimation under Domain Shiftcited by 14
  3. 2017Recognizing Objects In-the-wild: Where Do We Stand?cited by 10
  4. 2022COPE: End-to-end trainable Constant Runtime Object Pose Estimationcited by 10

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Cited by year

Citing papers per year: 2024: 1.

1 paper.

  1. 2024ReFlow6D: Refraction-Guided Transparent Object 6D Pose Estimation via Intermediate Representation Learningcited by 0