# STOPNet: Multiview-based 6-DoF Suction Detection for Transparent Objects on Production Lines

arXiv: https://arxiv.org/abs/2310.05717 · HTML: https://mlsanity.com/paper/2310.05717/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 18 of its 37 references that are in the map.
- First posted on arXiv 9 Oct 2023.

## Builds on (most cited first, 18 of 18)

- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [Vision Transformers for Dense Prediction](https://mlsanity.com/paper/2103.13413/) (2021)
- [NeuS: Learning Neural Implicit Surfaces by Volume Rendering for Multi-view Reconstruction](https://mlsanity.com/paper/2106.10689/) (2021)
- [Accelerating 3D Deep Learning with PyTorch3D](https://mlsanity.com/paper/2007.08501/) (2020)
- [Faster Segment Anything: Towards Lightweight SAM for Mobile Applications](https://mlsanity.com/paper/2306.14289/) (2023)
- [3DMatch: Learning Local Geometric Descriptors from RGB-D Reconstructions](https://mlsanity.com/paper/1603.08182/) (2016)
- [Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping and Cross-Domain Image Matching](https://mlsanity.com/paper/1710.01330/) (2017)
- [ClearGrasp: 3D Shape Estimation of Transparent Objects for Manipulation](https://mlsanity.com/paper/1910.02550/) (2019)
- [Synergies Between Affordance and Geometry: 6-DoF Grasp Detection via Implicit Representations](https://mlsanity.com/paper/2104.01542/) (2021)
- [Volumetric Grasping Network: Real-time 6 DOF Grasp Detection in Clutter](https://mlsanity.com/paper/2101.01132/) (2021)
- [GraspNeRF: Multiview-based 6-DoF Grasp Detection for Transparent and Specular Objects Using Generalizable NeRF](https://mlsanity.com/paper/2210.06575/) (2022)
- [TransCG: A Large-Scale Real-World Dataset for Transparent Object Depth Completion and a Grasping Baseline](https://mlsanity.com/paper/2202.08471/) (2022)
- [Domain Randomization-Enhanced Depth Simulation and Restoration for Perceiving and Grasping Specular and Transparent Objects](https://mlsanity.com/paper/2208.03792/) (2022)
- [SuctionNet-1Billion: A Large-Scale Benchmark for Suction Grasping](https://mlsanity.com/paper/2103.12311/) (2021)
- [Dynamic Grasping with Reachability and Motion Awareness](https://mlsanity.com/paper/2103.10562/) (2021)
- [Multi-modal Transfer Learning for Grasping Transparent and Specular Objects](https://mlsanity.com/paper/2006.00028/) (2020)
- [GlassLoc: Plenoptic Grasp Pose Detection in Transparent Clutter](https://mlsanity.com/paper/1909.04269/) (2019)
- [Fuzzy-Depth Objects Grasping Based on FSG Algorithm and a Soft Robotic Hand](https://mlsanity.com/paper/2110.10924/) (2021)

## Built on by (most cited first, 2 of 2)

- [RAM: Retrieval-Based Affordance Transfer for Generalizable Zero-Shot Robotic Manipulation](https://mlsanity.com/paper/2407.04689/) (2024)
- [Dex4D: Task-Agnostic Point Track Policy for Zero-Shot Dexterous Manipulation](https://mlsanity.com/paper/2602.15828/) (2026)

## Abstract (arXiv)

In this work, we present STOPNet, a framework for 6-DoF object suction detection on production lines, with a focus on but not limited to transparent objects, which is an important and challenging problem in robotic systems and modern industry. Current methods requiring depth input fail on transparent objects due to depth cameras' deficiency in sensing their geometry, while we proposed a novel framework to reconstruct the scene on the production line depending only on RGB input, based on multiview stereo. Compared to existing works, our method not only reconstructs the whole 3D scene in order to obtain high-quality 6-DoF suction poses in real time but also generalizes to novel environments, novel arrangements and novel objects, including challenging transparent objects, both in simulation and the real world. Extensive experiments in simulation and the real world show that our method significantly surpasses the baselines and has better generalizability, which caters to practical industrial needs.